diff --git a/episodes/c4_p001_e037/data.npz b/episodes/c4_p001_e037/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..860580d2a799131837376f24c0dc87576c3f8b25 --- /dev/null +++ b/episodes/c4_p001_e037/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:744aedcbf77249bdc365655d6b9ff03b4323bf356b11a44159ebd2e3d2b3da0f +size 190976 diff --git a/episodes/c4_p001_e037/device_events.jsonl b/episodes/c4_p001_e037/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f6e3152ddf8e704088c47b0ba7bebf830f3624e6 --- /dev/null +++ b/episodes/c4_p001_e037/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 189, "t": 0.945, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 189, "t": 0.945, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 194, "t": 0.97, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 816, "t": 4.08, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 5878, "t": 29.39, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 6488, "t": 32.44, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6488, "t": 32.44, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.461519883840715}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 6488, "t": 32.44, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 9, "step": 6488, "t": 32.44, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 10, "step": 6488, "t": 32.44, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 11, "step": 6907, "t": 34.535, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 12, "step": 6907, "t": 34.535, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 6907, "t": 34.535, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 6907, "t": 34.535, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 6907, "t": 34.535, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 6907, "t": 34.535, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 6907, "t": 34.535, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 18, "step": 6907, "t": 34.535, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 19, "step": 6907, "t": 34.535, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.461519883840715}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 7600, "t": 38.0, "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": 7600, "t": 38.0, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.4650000000017727}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7600, "t": 38.0, "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": 3.4650000000017727}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 7600, "t": 38.0, "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": 7600, "t": 38.0, "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": 7600, "t": 38.0, "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": 8020, "t": 40.1, "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": 8020, "t": 40.1, "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": 8020, "t": 40.1, "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": 8020, "t": 40.1, "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": 8020, "t": 40.1, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8020, "t": 40.1, "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": 8599, "t": 42.995, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 33, "step": 10284, "t": 51.42, "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": 10284, "t": 51.42, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 10284, "t": 51.42, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 10284, "t": 51.42, "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/c4_p001_e037/env.mp4 b/episodes/c4_p001_e037/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6d989fbf391ff37219647dad9e7e92e487994730 --- /dev/null +++ b/episodes/c4_p001_e037/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a51d760d5f2b59029c31e0024656ab04c39d6e078eae70039f4b72900025e523 +size 1300275 diff --git a/episodes/c4_p001_e037/meta.json b/episodes/c4_p001_e037/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4045487d13bd4c05a9f81e2c9b5deb3dd4dfb601 --- /dev/null +++ b/episodes/c4_p001_e037/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p001/magicsim/37", + "fps": 25, + "frames": 1247, + "kept_ticks": "even", + "video_frames": { + "wrist": 1247, + "env": 1247 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c4_p001_e037/scene_snapshot.json b/episodes/c4_p001_e037/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..3c8c05d7d577fd4bf569a38791021dfe4f888436 --- /dev/null +++ b/episodes/c4_p001_e037/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 37, + "env_id": 3, + "run_id": "c4_p001", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4789714813232422, + 0.05381488800048828, + 0.8999999761581421 + ], + "ori": [ + 0.7172253727912903, + 0.0, + 0.0, + -0.696841299533844 + ], + "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": [ + 2.6913315326337894e-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": 0.17704041086563402, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.014868589381445751, + "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": 0.17704041086563402, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5261688232421875, + 0.5011491775512695, + 0.8999999761581421 + ], + "ori": [ + 0.9652798771858215, + 2.472166826805733e-08, + -5.037579597910735e-08, + 0.26121798157691956 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.615615195075918e-10, + -1.1006702216320718e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.7067677049453778e-07, + 8.885013613735282e-08, + 1.3466220138980134e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.343994140625, + 0.6144514083862305, + 0.8999999761581421 + ], + "ori": [ + -0.8750340938568115, + 4.791719376839865e-08, + 1.2065642351899442e-07, + 0.48406144976615906 + ], + "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": [ + 3.0343672019483847e-10, + 6.900099380757752e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -6.145765496512468e-08, + -2.82957959285568e-08, + -1.0041890874390447e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.04129791259765625, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 3.115983781754039e-05, + -7.785208921973208e-09, + -3.3504818919283252e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0237870551321748e-09, + -1.6633786570352527e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.321847662438813e-07, + -1.00934578028955e-07, + -4.771110617696195e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1356954574584961, + 0.447265625, + 0.8999999761581421 + ], + "ori": [ + 0.999993085861206, + 8.469283052647825e-10, + 1.3290935463317055e-08, + 0.0037361974827945232 + ], + "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": [ + 1.6082748466317298e-09, + -7.916742816860278e-09, + 3.3527612686157227e-08 + ], + "angular_velocity": [ + 4.1865467892421293e-07, + 2.3051823916375724e-07, + 6.225265991588458e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.5369701385498047, + 0.4954795837402344, + 0.9179999828338623 + ], + "ori": [ + 0.948108434677124, + 2.475296767556756e-08, + -4.996117652922294e-08, + 0.3179473876953125 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.516497812001035e-09, + -3.5428406874871143e-08, + 7.82310962677002e-08 + ], + "angular_velocity": [ + 1.8901400835602544e-06, + -7.461723043888924e-07, + 3.3110616470821697e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.3397789001464844, + 0.6061105728149414, + 0.9180000424385071 + ], + "ori": [ + -0.8842843174934387, + 4.9407056224026746e-08, + 1.1958866252825828e-07, + 0.46694880723953247 + ], + "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": [ + -5.14455189559726e-09, + 3.138397630664258e-08, + -4.298985004425049e-06 + ], + "angular_velocity": [ + -1.1410440947656753e-06, + -1.148586193266965e-06, + 1.2022559303659364e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.03148460388183594, + 1.1493024826049805, + 0.9180000424385071 + ], + "ori": [ + 0.04745560139417648, + -8.343207014149812e-09, + -2.8800861695543745e-09, + 0.9988733530044556 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.861573975669444e-09, + -8.907800719271108e-09, + -5.479902029037476e-06 + ], + "angular_velocity": [ + -4.879513681999015e-08, + 1.4449537957261782e-06, + -2.45458764425166e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.13950061798095703, + 0.44386959075927734, + 0.9179999828338623 + ], + "ori": [ + 0.9997469782829285, + 7.680788449704323e-09, + 1.615054046055775e-08, + 0.022497110068798065 + ], + "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": [ + -1.5623616178572775e-08, + -5.7031346756275525e-08, + -1.2926757335662842e-06 + ], + "angular_velocity": [ + 1.6537569536012597e-06, + -1.4914711528035696e-06, + 9.545000523303315e-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": 1.779999999999984, + "step": 356, + "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": 2.6913315326337894e-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": 0.17704041086563402, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 166, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.376168817281723, + 0.051149189472198486, + 0.0 + ], + "carrier_2": [ + -1.4939941465854645, + 0.16445142030715942, + 0.0 + ], + "carrier_3": [ + -0.10870209336280823, + 0.6999967694282532, + 0.0 + ], + "carrier_4": [ + -0.014304548501968384, + -0.002734363079071045, + 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": [ + -0.4168530879538871, + -0.17214000973404797, + 2.864302633735577 + ], + "ori": [ + -11.713306825451376, + 0.38438017290851434, + -28.55340509959005 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3823.088684783058, + "color": [ + 0.9764786719540073, + 0.8325178499658772, + 0.918896567639997 + ], + "intensity": 7263.104958729111, + "width": 2.2118097954744687, + "height": 1.0329767435294586 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.5714766511765415, + 1.2428667836622604, + 1.7409305838665752 + ], + "ori": [ + -29.794943548041797, + 3.6560521228273757, + 4.989407006215657 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4273.397592424868, + "color": [ + 0.9701745559415919, + 0.9560798636772991, + 0.7979010924481796 + ], + "intensity": 2516.3616140487893, + "radius": 0.3632649672651941 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1341.7088669994287, + "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": [ + [ + 0.9872332811355591, + -1.4229414463043213, + 2.041177272796631, + -2.189056158065796, + -1.5707941055297852, + 2.460681438446045, + 0.007702023722231388, + 0.007109003607183695 + ], + [ + -0.17818577587604523, + -2.043633460998535, + 2.6730234622955322, + -2.2001616954803467, + -1.5707646608352661, + 4.581603527069092, + 0.007820694707334042, + 0.007047155871987343 + ], + [ + 0.9141026735305786, + -1.7193981409072876, + 2.09049916267395, + -1.9419001340866089, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.00021052357624284923, + -0.012126579880714417, + -0.009926863946020603, + 0.02080361731350422, + -3.535092400852591e-05, + -0.00027520369621925056, + -0.0073892297223210335, + 0.0003141388006042689 + ], + [ + -0.0001117677238653414, + -0.015076933428645134, + -0.011285461485385895, + 0.024767134338617325, + 0.00017826749535743147, + -0.000549088348634541, + -0.009328259155154228, + 0.00041693352977745235 + ], + [ + 5.108947789267404e-06, + 1.6474868344551474e-12, + 1.5947397482424241e-12, + -3.405976940484834e-06, + -3.4059771678585093e-06, + 1.2160505892186424e-12, + 2.5990550156507197e-08, + -2.5990230412276105e-08 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05083082243800163, + -0.004524875432252884, + -0.026814648881554604, + -0.2774776518344879, + 0.6515551805496216, + 0.6462407112121582, + -0.2843500077724457 + ], + [ + 0.05104987323284149, + -0.0022214537020772696, + -0.030709756538271904, + -0.2840823829174042, + 0.6502842307090759, + 0.6461995244026184, + -0.28080907464027405 + ], + [ + 0.04921337217092514, + 0.0021300127264112234, + -0.02852882817387581, + -0.282492458820343, + 0.6543789505958557, + 0.6422773003578186, + -0.2818973660469055 + ], + [ + 0.048036690801382065, + -0.0016507752006873488, + -0.02646692469716072, + -0.28807714581489563, + 0.6413444876670837, + 0.6577433347702026, + -0.2703007459640503 + ] + ], + "camera1": [ + [ + 0.03100407123565674, + 0.5703215599060059, + 1.9552648067474365, + 0.04304821416735649, + 0.02780849300324917, + 0.27877625823020935, + 0.9589876532554626 + ], + [ + 0.06799137592315674, + 0.5805333852767944, + 1.956607460975647, + 0.044886380434036255, + 0.01054947916418314, + 0.2796475887298584, + 0.9589948654174805 + ], + [ + 0.045494578778743744, + 0.5663745403289795, + 1.9324513673782349, + 0.04075014591217041, + 0.01848364807665348, + 0.28104737401008606, + 0.9586501717567444 + ], + [ + 0.05816757678985596, + 0.5959747433662415, + 1.9697424173355103, + 0.052000969648361206, + 0.025135990232229233, + 0.266117662191391, + 0.96220862865448 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p001_e037/wrist.mp4 b/episodes/c4_p001_e037/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c5ab513a899d0dcaf0b6045ed2a72316bb065d0c --- /dev/null +++ b/episodes/c4_p001_e037/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2d1acb3ced2be94177e074d900d7eb5ad9a35e59d7dcfe7e0877c6e0376dfbe +size 6691666 diff --git a/episodes/c4_p001_e038/data.npz b/episodes/c4_p001_e038/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..845d0bc0387b427066e6c3219f32f5a81dec6841 --- /dev/null +++ b/episodes/c4_p001_e038/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6adb13394aea2ca8cb8f24f0b4671b030cd0dc964f9203f6a7d9819ad814f81 +size 186904 diff --git a/episodes/c4_p001_e038/device_events.jsonl b/episodes/c4_p001_e038/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d33a62600a42fee4f96720669398311e5716c16 --- /dev/null +++ b/episodes/c4_p001_e038/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 59, "t": 0.295, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 59, "t": 0.295, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 64, "t": 0.32, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6419, "t": 32.095, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 7032, "t": 35.16, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 6, "step": 7032, "t": 35.16, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.096053676163582}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7032, "t": 35.16, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 8, "step": 7032, "t": 35.16, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 7032, "t": 35.16, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 7451, "t": 37.255, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 7451, "t": 37.255, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 7451, "t": 37.255, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7451, "t": 37.255, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7451, "t": 37.255, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7451, "t": 37.255, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7451, "t": 37.255, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 17, "step": 7451, "t": 37.255, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 7451, "t": 37.255, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.096053676163582}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 8071, "t": 40.355, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 8071, "t": 40.355, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.100000000001586}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 8071, "t": 40.355, "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": 3.100000000001586}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8071, "t": 40.355, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 23, "step": 8071, "t": 40.355, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 8071, "t": 40.355, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 8491, "t": 42.455, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 8491, "t": 42.455, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.8871889585532244e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8491, "t": 42.455, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.8871889585532244e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8491, "t": 42.455, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8491, "t": 42.455, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8491, "t": 42.455, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 9071, "t": 45.355, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 10832, "t": 54.16, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 33, "step": 10832, "t": 54.16, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10832, "t": 54.16, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10832, "t": 54.16, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c4_p001_e038/env.mp4 b/episodes/c4_p001_e038/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8c4796267c8790ee496b0f1f6a710e587c2ab28d --- /dev/null +++ b/episodes/c4_p001_e038/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa2762b816822f01ccd71b1ff569a7c1eeb43594a07a537035668a1e012a678e +size 1239865 diff --git a/episodes/c4_p001_e038/meta.json b/episodes/c4_p001_e038/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..83a56d2359fd5f170651a8d966405a2228c2cd4c --- /dev/null +++ b/episodes/c4_p001_e038/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p001/magicsim/38", + "fps": 25, + "frames": 1189, + "kept_ticks": "even", + "video_frames": { + "wrist": 1189, + "env": 1189 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c4_p001_e038/scene_snapshot.json b/episodes/c4_p001_e038/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..72b9bbe0c202c93993906a3f6975ce5e9b5750ca --- /dev/null +++ b/episodes/c4_p001_e038/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 38, + "env_id": 2, + "run_id": "c4_p001", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 0.5296335220336914, + 0.1062154769897461, + 0.8999999761581421 + ], + "ori": [ + -0.6987637877464294, + 0.0, + 0.0, + 0.715352475643158 + ], + "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": 0.2852423146842974, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1814542965634086, + "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": 0.2852423146842974, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.44492435455322266, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + 1.535622686787974e-05, + -5.815947168308355e-10, + 2.535730514452439e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.95111737666798e-10, + -1.4673100512396786e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.3960871569906885e-07, + -6.50772307153602e-08, + 1.697413321011254e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.03083515167236328, + 0.4499979019165039, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 8.259855577286146e-10, + -4.108496209909163e-09, + -1.597633854544256e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.150291470026104e-11, + 9.260399114197071e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.848742670063075e-08, + -1.9790281413634148e-08, + 2.872395876707401e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.3359403610229492, + 0.45008182525634766, + 0.8999999761581421 + ], + "ori": [ + 0.9998436570167542, + 5.451168405556928e-09, + 5.0467825474243e-09, + 0.017684342339634895 + ], + "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": [ + 1.675122929256645e-09, + 4.3977341768197675e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -4.392941477249224e-08, + 8.901162118490902e-08, + -3.338739062996865e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2911949157714844, + 1.0494279861450195, + 0.8999999761581421 + ], + "ori": [ + -0.36647164821624756, + -4.4112759667314094e-08, + -5.7314348822501415e-09, + 0.9304292798042297 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.938595144996725e-09, + 2.4185196068060577e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.8213472685602028e-07, + -2.5938510361811495e-07, + -3.2876701361317373e-10 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.46064281463623047, + 1.1455469131469727, + 0.9179999828338623 + ], + "ori": [ + 0.012515639886260033, + -8.66632737794859e-11, + 2.104831420268738e-09, + 0.9999216794967651 + ], + "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": [ + 1.1775919794843048e-08, + 5.546370029918535e-09, + 1.4528632164001465e-07 + ], + "angular_velocity": [ + -1.0812815389726893e-06, + 1.8643102066562278e-06, + -6.316124512295573e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.03995800018310547, + 0.4512510299682617, + 0.9180000424385071 + ], + "ori": [ + 0.9969682693481445, + 2.613377514393278e-09, + -4.143400733624958e-09, + -0.07780980318784714 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4357100397432987e-08, + 1.4848835050429443e-08, + -5.204230546951294e-06 + ], + "angular_velocity": [ + 9.620779728436446e-09, + -1.5921575595712056e-06, + 8.58106048440277e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.3300342559814453, + 0.4414033889770508, + 0.9180000424385071 + ], + "ori": [ + 0.9990400671958923, + 8.549282171088635e-09, + 5.273395942140269e-09, + 0.04380723834037781 + ], + "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": [ + 1.0211574696938897e-08, + 3.907108236944623e-08, + -5.211681127548218e-06 + ], + "angular_velocity": [ + -1.644205212869565e-06, + -1.9247393083787756e-06, + -1.2909376323477773e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.2835149765014648, + 1.0408477783203125, + 0.9179999828338623 + ], + "ori": [ + -0.36577820777893066, + -3.408419857464651e-08, + -1.4661198477483595e-08, + 0.9307020902633667 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.036059522150026e-07, + 2.3434898821506067e-07, + -1.3969838619232178e-06 + ], + "angular_velocity": [ + -1.1113282198493835e-05, + -1.486443852627417e-05, + -6.606408078368986e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 6.7399999999998785, + "step": 1348, + "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": 0.2852423146842974, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1288, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.2949243485927582, + 0.6999977231025696, + 0.0 + ], + "carrier_2": [ + -0.18083515763282776, + -2.086162567138672e-06, + 0.0 + ], + "carrier_3": [ + 1.1859403550624847, + 8.183717727661133e-05, + 0.0 + ], + "carrier_4": [ + -1.4411949217319489, + 0.5994279980659485, + 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": [ + -0.5464882281597553, + -0.39439514366652373, + 2.644659440028169 + ], + "ori": [ + -8.628544585191971, + 8.054530943491358, + 16.987143870348845 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4701.010395610763, + "color": [ + 0.886553776940643, + 0.8545535529565065, + 0.9619369291157478 + ], + "intensity": 6053.70016892686, + "width": 1.8321727568694266, + "height": 1.4807958498773302 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.5166886427557538, + 0.14884255315912776, + 1.873565519993877 + ], + "ori": [ + -27.915288824952604, + -3.2887394811334403, + -10.020036784931008 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7082.819826473974, + "color": [ + 0.9309697105674066, + 0.822437611218829, + 0.9971835977053145 + ], + "intensity": 8277.730847452218, + "radius": 0.07488766158198179 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1341.7088669994287, + "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": [ + [ + 1.7551274299621582, + -1.9752620458602905, + 2.4784607887268066, + -2.0736639499664307, + -1.570530652999878, + 3.285426139831543, + 0.007668304722756147, + 0.007146856747567654 + ], + [ + -0.139789417386055, + -2.216902732849121, + 2.4224390983581543, + -1.7762689590454102, + -1.5708427429199219, + 4.500624656677246, + 0.00781682413071394, + 0.007051359862089157 + ], + [ + 0.9141041040420532, + -1.719395637512207, + 2.0904979705810547, + -1.9419001340866089, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.7610589265823364, + -1.1948736906051636, + 2.050513982772827, + -2.4264373779296875, + -1.5708584785461426, + 2.2866997718811035, + 0.007752932142466307, + 0.007046948652714491 + ] + ], + "joint_vel": [ + [ + 0.06859629601240158, + -0.048274215310811996, + 0.03991903364658356, + 0.007418450899422169, + 0.0001190298207802698, + 0.07158686965703964, + -0.0070266141556203365, + 0.0005387166747823358 + ], + [ + 0.015339365229010582, + 0.00650677690282464, + -0.004106105305254459, + -0.00314928125590086, + 0.00013886470696888864, + -0.032839179039001465, + -0.009349239058792591, + 0.0005231912946328521 + ], + [ + -2.55481933418772e-38, + 2.954886122116755e-38, + 2.960766530992448e-38, + 7.04639367882441e-37, + -7.308041886005597e-37, + 2.514572248630277e-37, + 2.599039028439165e-08, + -2.5990386731677972e-08 + ], + [ + 0.0003080767346546054, + -0.017536194995045662, + -0.006343026179820299, + 0.021849485114216805, + 0.0009255898185074329, + 0.0024439103435724974, + -0.008851167745888233, + 0.0002722356584854424 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04894055798649788, + -0.0013067458057776093, + -0.029229437932372093, + -0.27624693512916565, + 0.649168848991394, + 0.6497476696968079, + -0.2830113470554352 + ], + [ + 0.0549008846282959, + -0.0024574538692831993, + -0.03279837220907211, + -0.2835330665111542, + 0.6527171730995178, + 0.6430357098579407, + -0.28297412395477295 + ], + [ + 0.05244879424571991, + 0.003695292863994837, + -0.029856042936444283, + -0.28040868043899536, + 0.6555150151252747, + 0.6444874405860901, + -0.2762371897697449 + ], + [ + 0.04777025431394577, + 5.5169788538478315e-05, + -0.025890739634633064, + -0.28842681646347046, + 0.6431576013565063, + 0.6566064953804016, + -0.2683769166469574 + ] + ], + "camera1": [ + [ + 0.03100407123565674, + 0.5703215599060059, + 1.9552648067474365, + 0.04304821416735649, + 0.02780849300324917, + 0.27877625823020935, + 0.9589876532554626 + ], + [ + 0.06799137592315674, + 0.5805333852767944, + 1.956607460975647, + 0.044886380434036255, + 0.01054947916418314, + 0.2796475887298584, + 0.9589948654174805 + ], + [ + 0.045494578778743744, + 0.5663745403289795, + 1.9324513673782349, + 0.04075014591217041, + 0.01848364807665348, + 0.28104737401008606, + 0.9586501717567444 + ], + [ + 0.05816757678985596, + 0.5959747433662415, + 1.9697424173355103, + 0.052000969648361206, + 0.025135990232229233, + 0.266117662191391, + 0.96220862865448 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p001_e038/wrist.mp4 b/episodes/c4_p001_e038/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6729d38080978be2af13a6119e0260ab9dc53894 --- /dev/null +++ b/episodes/c4_p001_e038/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f1b9016bce4d694cc8a4f540637bd07dd52dc72b9f342d02f751a565866434b +size 6581488 diff --git a/episodes/c4_p001_e039/data.npz b/episodes/c4_p001_e039/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..51fdaa87d313d41c7ab96107adeb3235096c9dd3 --- /dev/null +++ b/episodes/c4_p001_e039/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9433cc3e577c9f40d082bdb4af1c7edee620cc286052d51b49a41ef59d7319af +size 189654 diff --git a/episodes/c4_p001_e039/device_events.jsonl b/episodes/c4_p001_e039/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..578e4b9b3e01dfe2d02688c60def10290b08f842 --- /dev/null +++ b/episodes/c4_p001_e039/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 1, "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": 1, "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": 1, "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": 1, "seq": 4, "step": 1379, "t": 6.895, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 1388, "t": 6.94, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 6347, "t": 31.735, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 7, "step": 6956, "t": 34.78, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 6956, "t": 34.78, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.0285220258603713}, "cause": "task-1-1"} +{"env_id": 1, "seq": 9, "step": 6956, "t": 34.78, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 6956, "t": 34.78, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 6956, "t": 34.78, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 7375, "t": 36.875, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 13, "step": 7375, "t": 36.875, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7375, "t": 36.875, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 15, "step": 7375, "t": 36.875, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 16, "step": 7375, "t": 36.875, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 7375, "t": 36.875, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 18, "step": 7375, "t": 36.875, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7375, "t": 36.875, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 7375, "t": 36.875, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.0285220258603713}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7981, "t": 39.905, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 22, "step": 7981, "t": 39.905, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.03000000000155}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 7981, "t": 39.905, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.03000000000155}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 24, "step": 7981, "t": 39.905, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 25, "step": 7981, "t": 39.905, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 7981, "t": 39.905, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8401, "t": 42.005, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 28, "step": 8401, "t": 42.005, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.0585716303523895e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8401, "t": 42.005, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.0585716303523895e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 30, "step": 8401, "t": 42.005, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 31, "step": 8401, "t": 42.005, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 32, "step": 8401, "t": 42.005, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 33, "step": 8983, "t": 44.915, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 34, "step": 10668, "t": 53.34, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 10668, "t": 53.34, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 36, "step": 10668, "t": 53.34, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 37, "step": 10668, "t": 53.34, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c4_p001_e039/env.mp4 b/episodes/c4_p001_e039/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5eba29aafa72bd4d696f1143f3bc7a3fb9d3e029 --- /dev/null +++ b/episodes/c4_p001_e039/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:affc2c46b3edf66d4a112d7f21660a879a6310b18d2dce37158f221323d9c118 +size 1185558 diff --git a/episodes/c4_p001_e039/meta.json b/episodes/c4_p001_e039/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f9a8228c6105dd03d52f13dc58bdfa7fccb315cd --- /dev/null +++ b/episodes/c4_p001_e039/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p001/magicsim/39", + "fps": 25, + "frames": 1220, + "kept_ticks": "even", + "video_frames": { + "wrist": 1220, + "env": 1220 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c4_p001_e039/scene_snapshot.json b/episodes/c4_p001_e039/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..3941d1fd7f65ecc56d91450fbdfc949c5895ff3c --- /dev/null +++ b/episodes/c4_p001_e039/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 39, + "env_id": 1, + "run_id": "c4_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5132904052734375, + 0.09563636779785156, + 0.8999999761581421 + ], + "ori": [ + -0.7040147185325623, + 0.0, + 0.0, + 0.7101854085922241 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 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": 0.1755464664836913, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.03459687377228754, + "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": 0.1755464664836913, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3981008529663086, + 0.8230724334716797, + 0.8999999761581421 + ], + "ori": [ + -0.6822153329849243, + 1.6475010511385335e-07, + -4.311853629701545e-08, + 0.7311514019966125 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8858625772111282e-10, + 5.3886173301265217e-11, + 0.0 + ], + "angular_velocity": [ + -4.798573982611742e-09, + 1.7498155813200356e-08, + 9.98538696173057e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6793270111083984, + 0.9153375625610352, + 0.8999999761581421 + ], + "ori": [ + 0.5796190500259399, + -5.4864944587507125e-08, + 1.715729069928784e-08, + 0.8148875832557678 + ], + "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": [ + 1.050656006640338e-09, + 5.066332908754134e-10, + 0.0 + ], + "angular_velocity": [ + -4.4530171550150044e-08, + 3.719377872357654e-08, + 1.0268986549988313e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4364938735961914, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + -1.0969672075589187e-05, + 3.1174649528509235e-09, + -1.2921555381240069e-08, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.083478692493372e-09, + 2.316794933676647e-08, + -4.0978193283081055e-08 + ], + "angular_velocity": [ + -1.5465999467778602e-06, + -5.619909870802076e-07, + 2.7216255915618603e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.11580848693847656, + 0.4499988555908203, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 6.618407155656314e-09, + 1.4078796461980403e-10, + -1.967159732885193e-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": [ + -6.073830327579799e-11, + 2.91995050361038e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -8.700681775053454e-08, + 6.232308891185312e-09, + 4.7624745036500826e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.3883380889892578, + 0.8282079696655273, + 0.9179999828338623 + ], + "ori": [ + -0.603769838809967, + 1.6757431353653374e-07, + -2.563079704032134e-08, + 0.7971587181091309 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.356459478074612e-08, + 1.7016645870171487e-08, + 4.842877388000488e-08 + ], + "angular_velocity": [ + -1.091493231797358e-06, + -2.69386760010093e-07, + 1.7482669534274464e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.6779584884643555, + 0.9140987396240234, + 0.9180000424385071 + ], + "ori": [ + 0.6539455056190491, + -5.533284763714619e-08, + 1.2224714573960682e-08, + 0.7565416097640991 + ], + "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": [ + 3.490713140763546e-08, + -2.6591601809400345e-08, + -5.424022674560547e-06 + ], + "angular_velocity": [ + 1.7698508827379555e-06, + 2.262464022351196e-06, + -5.9000786478691225e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.4266471862792969, + 1.1419963836669922, + 0.9179999828338623 + ], + "ori": [ + -0.01595458760857582, + 2.0564685954127526e-08, + -2.1463877430960565e-07, + 0.9998727440834045 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.8704663489188533e-06, + 1.9021229036297882e-06, + -5.513429641723633e-06 + ], + "angular_velocity": [ + -0.00015466517652384937, + -1.616499685042072e-05, + -2.758731716312468e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.11284351348876953, + 0.44081974029541016, + 0.9179999828338623 + ], + "ori": [ + 0.9997707009315491, + 8.179046773193477e-09, + -3.265282266795566e-09, + -0.021413184702396393 + ], + "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": [ + -7.747993180373669e-08, + 1.912702884965256e-08, + 1.6763806343078613e-07 + ], + "angular_velocity": [ + -9.409880590283137e-07, + -3.0359517495526234e-06, + 2.404363499408646e-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": 4.77999999999992, + "step": 956, + "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": 0.1755464664836913, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 903, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.548100858926773, + 0.37307244539260864, + 0.0 + ], + "carrier_2": [ + 1.529327005147934, + 0.4653375744819641, + 0.0 + ], + "carrier_3": [ + 0.28649386763572693, + 0.6999996304512024, + 0.0 + ], + "carrier_4": [ + -0.034191519021987915, + -1.1324882507324219e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.24738013453011543, + 0.06979346879352233, + 2.6981333114325885 + ], + "ori": [ + -3.5901528104554874, + -10.042460154215654, + -18.727360688245547 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6720.173587266401, + "color": [ + 0.9582651691039412, + 0.9458365073612355, + 0.9834265848382617 + ], + "intensity": 5829.030584668773, + "width": 1.5464426023272222, + "height": 1.2518451857043045 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.3754495535065454, + 0.6686232728622337, + 2.729794240068747 + ], + "ori": [ + 20.121709792913848, + 14.509700490744137, + -19.770790697681786 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7351.096605620183, + "color": [ + 0.9085163131672094, + 0.9712177282687928, + 0.9067575556122687 + ], + "intensity": 8242.534470429338, + "radius": 0.13605813310428408 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1341.7088669994287, + "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": [ + [ + 2.635685443878174, + -1.7613240480422974, + 2.596574068069458, + -2.405977725982666, + -1.570780634880066, + 4.206231117248535, + 0.0077303028665483, + 0.007039343938231468 + ], + [ + 0.9141026139259338, + -1.7193981409072876, + 2.090498685836792, + -1.9419000148773193, + -1.5707999467849731, + 2.4849014282226562, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.626161575317383, + -2.101968765258789, + 2.1851673126220703, + -1.6544253826141357, + -1.571542501449585, + 4.196695804595947, + 0.01800001971423626, + 0.017999978736042976 + ], + [ + 2.52954363822937, + -2.235363006591797, + 2.064512014389038, + -1.4010096788406372, + -1.572623372077942, + 4.099386692047119, + 0.018000001087784767, + 0.01799999736249447 + ] + ], + "joint_vel": [ + [ + -0.013372734189033508, + -0.026374803856015205, + 0.017541008070111275, + 0.007823179475963116, + -0.0008207365754060447, + -0.011031650938093662, + -0.008662939071655273, + 0.0003293814661446959 + ], + [ + 2.795776809023765e-38, + -3.009546851574366e-38, + -1.640750103831099e-38, + -6.028299449332206e-37, + 7.408877529836377e-37, + -2.5552365848184573e-37, + 2.59903654153959e-08, + -2.5990400942532688e-08 + ], + [ + -0.01399820577353239, + -0.025739220902323723, + 0.011472071520984173, + 0.013603062368929386, + -7.995369742275216e-06, + -0.01406009029597044, + -2.592911187093705e-06, + 2.5929080038622487e-06 + ], + [ + 6.811906132497825e-06, + -1.3623703125631437e-05, + -1.3623839549836703e-05, + -3.4059623885696055e-06, + 3.405976485737483e-06, + -1.3623914128402248e-05, + -2.5990175345214084e-08, + 2.5991113261625287e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04867806285619736, + -0.0034324214793741703, + -0.028856873512268066, + -0.27689307928085327, + 0.6499788761138916, + 0.6472933292388916, + -0.28612759709358215 + ], + [ + 0.05328802019357681, + -0.00023754163703415543, + -0.0347498320043087, + -0.2887176275253296, + 0.6516819000244141, + 0.6420477032661438, + -0.28236067295074463 + ], + [ + 0.05287960171699524, + 0.001861926051788032, + -0.031053489074110985, + -0.2796007990837097, + 0.653614342212677, + 0.6455477476119995, + -0.2790694534778595 + ], + [ + 0.04934566095471382, + -0.0019584153778851032, + -0.026960954070091248, + -0.29247987270355225, + 0.6331562399864197, + 0.6625918745994568, + -0.27302148938179016 + ] + ], + "camera1": [ + [ + 0.03100407123565674, + 0.5703215599060059, + 1.9552648067474365, + 0.04304821416735649, + 0.02780849300324917, + 0.27877625823020935, + 0.9589876532554626 + ], + [ + 0.06799137592315674, + 0.5805333852767944, + 1.956607460975647, + 0.044886380434036255, + 0.01054947916418314, + 0.2796475887298584, + 0.9589948654174805 + ], + [ + 0.045494578778743744, + 0.5663745403289795, + 1.9324513673782349, + 0.04075014591217041, + 0.01848364807665348, + 0.28104737401008606, + 0.9586501717567444 + ], + [ + 0.05816757678985596, + 0.5959747433662415, + 1.9697424173355103, + 0.052000969648361206, + 0.025135990232229233, + 0.266117662191391, + 0.96220862865448 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p001_e039/wrist.mp4 b/episodes/c4_p001_e039/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b906a523f5b0dafb37d98aed3505964e2420d419 --- /dev/null +++ b/episodes/c4_p001_e039/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58b9d6ac7a9395bdbc1340c3d06837b19d284e720b83606c8a886cc5692ab236 +size 6178945 diff --git a/episodes/c4_p002_e000/data.npz b/episodes/c4_p002_e000/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..d9331b804426121a3c44540f390442c7aee999be --- /dev/null +++ b/episodes/c4_p002_e000/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8eac538c4b249079a4275aa2dc44627b068c1210cb7fd26669e8913e2830500d +size 188398 diff --git a/episodes/c4_p002_e000/device_events.jsonl b/episodes/c4_p002_e000/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d8420ee812dd2243d182d26f76a1819605da727e --- /dev/null +++ b/episodes/c4_p002_e000/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 42, "t": 0.21, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 42, "t": 0.21, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 47, "t": 0.235, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1838, "t": 9.19, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6799, "t": 33.995, "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": 7412, "t": 37.06, "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": 7412, "t": 37.06, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.731033922090959}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 7412, "t": 37.06, "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": 7412, "t": 37.06, "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": 7412, "t": 37.06, "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": 7831, "t": 39.155, "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": 7831, "t": 39.155, "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": 7831, "t": 39.155, "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": 7831, "t": 39.155, "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": 7831, "t": 39.155, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7831, "t": 39.155, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 7831, "t": 39.155, "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": 7831, "t": 39.155, "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": 7831, "t": 39.155, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.731033922090959}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 8378, "t": 41.89, "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": 8378, "t": 41.89, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.735000000001399}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8378, "t": 41.89, "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": 2.735000000001399}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 8378, "t": 41.89, "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": 8378, "t": 41.89, "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": 8378, "t": 41.89, "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": 8798, "t": 43.99, "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": 8798, "t": 43.99, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.1046905884780642e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8798, "t": 43.99, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.1046905884780642e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8798, "t": 43.99, "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": 8798, "t": 43.99, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 8798, "t": 43.99, "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": 9379, "t": 46.895, "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": 11108, "t": 55.54, "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": 34, "step": 11108, "t": 55.54, "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": 11108, "t": 55.54, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 11108, "t": 55.54, "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/c4_p002_e000/env.mp4 b/episodes/c4_p002_e000/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ad13d6d343a598c1678428efdc8a9f679892cef2 --- /dev/null +++ b/episodes/c4_p002_e000/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:052c67f738b99e4fdd5bc9a3059dba057d84bf7a9b0a03118cf5bd362aa669f3 +size 1282200 diff --git a/episodes/c4_p002_e000/meta.json b/episodes/c4_p002_e000/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7b406b620776ef3add448667328459bfd81e2d45 --- /dev/null +++ b/episodes/c4_p002_e000/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p002/magicsim/0", + "fps": 25, + "frames": 1217, + "kept_ticks": "even", + "video_frames": { + "wrist": 1217, + "env": 1217 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c4_p002_e000/scene_snapshot.json b/episodes/c4_p002_e000/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..fbd0542939267ee4038fbb52bb7f1d094518b97b --- /dev/null +++ b/episodes/c4_p002_e000/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 0, + "env_id": 1, + "run_id": "c4_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 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_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 0.5296335220336914, + 0.1062154769897461, + 0.8999999761581421 + ], + "ori": [ + -0.6987637877464294, + 0.0, + 0.0, + 0.715352475643158 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.728327205281215e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2753199149774926, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.12433297353246767, + "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": 0.2753199149774926, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.026267051696777344, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + -3.472732942100265e-06, + -1.8492013476034685e-12, + -4.8419170894931085e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.6942674757890472e-09, + -9.059735184280271e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.9345067414633377e-07, + -2.411568971183442e-07, + -3.940673920510562e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.025252342224121094, + 0.4499988555908203, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -5.167689831608868e-09, + -1.8753781860780805e-10, + 1.5359613826149143e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.56581908234466e-10, + 6.452394174516485e-11, + 0.0 + ], + "angular_velocity": [ + -3.194648456883442e-08, + -8.011117103023935e-08, + -7.796010947913601e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6832256317138672, + 0.9029664993286133, + 0.8999999761581421 + ], + "ori": [ + 0.595450758934021, + -1.0460467336770307e-07, + 7.59209228817781e-08, + 0.8033918142318726 + ], + "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": [ + 6.794200757553881e-10, + -1.5416812271240588e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 2.551878708345612e-09, + 7.890125175435969e-08, + 4.874991521575112e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3851661682128906, + 0.7060747146606445, + 0.9000098705291748 + ], + "ori": [ + -0.7912610173225403, + 0.00016629586752969772, + -0.00016662775306031108, + 0.6114785075187683 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -0.0008826827979646623, + -0.00013373912952374667, + -0.0018183179199695587 + ], + "angular_velocity": [ + 0.012651342898607254, + -0.07773926854133606, + 0.0010496050817891955 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.021925926208496094, + 1.1415596008300781, + 0.9179999828338623 + ], + "ori": [ + 0.016774402931332588, + -6.188753953750847e-10, + -6.624031989588275e-09, + 0.9998593330383301 + ], + "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": [ + -6.036128041841948e-09, + -2.7234500876716083e-08, + 1.4528632164001465e-07 + ], + "angular_velocity": [ + -8.668419582136266e-07, + 1.5499110759265022e-06, + -1.9221921832013322e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.011156082153320312, + 0.4615802764892578, + 0.9180000424385071 + ], + "ori": [ + 0.9999992847442627, + -4.8747161862650046e-09, + -1.779136393764702e-09, + -0.0012628636322915554 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0355439172826664e-08, + -5.591771490287556e-11, + -4.950910806655884e-06 + ], + "angular_velocity": [ + 5.895774393138709e-07, + -1.1120037015643902e-06, + 4.344637005715413e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.6724042892456055, + 0.9118947982788086, + 0.9179999828338623 + ], + "ori": [ + 0.65106600522995, + -1.0920855686435971e-07, + 6.880570424527832e-08, + 0.7590211033821106 + ], + "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": [ + -1.7154562215182523e-09, + -1.706382235511228e-08, + -6.455928087234497e-06 + ], + "angular_velocity": [ + 1.1054291917389492e-06, + 6.760782298442791e-07, + 1.2562260565118777e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.374424934387207, + 0.6989431381225586, + 0.9179993271827698 + ], + "ori": [ + -0.8463610410690308, + 0.00011328274558763951, + -8.567611803300679e-05, + 0.5326096415519714 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -0.001909888000227511, + -0.0004839666362386197, + -0.0013430677354335785 + ], + "angular_velocity": [ + 0.013061475940048695, + -0.062385737895965576, + 0.0018728168215602636 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 7.039999999999872, + "step": 1408, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.728327205281215e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2753199149774926, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1365, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.12373295426368713, + 0.7000005841255188, + 0.0 + ], + "carrier_2": [ + -0.12474766373634338, + -1.1324882507324219e-06, + 0.0 + ], + "carrier_3": [ + 1.5332256257534027, + 0.45296651124954224, + 0.0 + ], + "carrier_4": [ + -1.535166174173355, + 0.2560747265815735, + 9.894371032714844e-06 + ] + }, + "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": [ + -0.53892609742148, + -0.46763422587221826, + 2.689923087404139 + ], + "ori": [ + 11.337322633704083, + 9.009111119519083, + -29.717291608961315 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3754.3103534508027, + "color": [ + 0.971732552036922, + 0.9716522345615699, + 0.9500233621271377 + ], + "intensity": 10070.233247084801, + "width": 2.33426772495836, + "height": 1.2272554531498199 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.527581941225014, + 1.4390250313055961, + 2.487257749174463 + ], + "ori": [ + 27.167865086226, + -33.28486064988588, + 11.778764274707754 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4477.737768988043, + "color": [ + 0.9723001510953362, + 0.8223262837692206, + 0.769596835065528 + ], + "intensity": 8171.54221957393, + "radius": 0.16005659469650457 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1487.7917010610722, + "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": [ + [ + 1.2512956857681274, + -1.5976338386535645, + 2.2138283252716064, + -2.186967611312866, + -1.5707950592041016, + 2.943735361099243, + 0.018000036478042603, + 0.017999963834881783 + ], + [ + 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": [ + [ + -7.05579950590618e-05, + 0.009106781333684921, + 0.007586316205561161, + -0.015907738357782364, + -8.84760720509803e-06, + 2.0210114598739892e-05, + -3.6643584735429613e-06, + 3.639237775132642e-06 + ], + [ + 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, + 1.6474471526556345e-12, + 1.618015834162212e-12, + -3.405976030990132e-06, + -3.4059778499795357e-06, + 9.65635232365314e-13, + 1.998362819622887e-13, + 9.497261375772392e-14 + ], + [ + -2.527969334572485e-38, + 1.5499014020516852e-38, + 3.8572760902926146e-38, + 5.210929902362941e-37, + -4.883688819832621e-38, + 4.337454158544144e-37, + 2.5990399166175848e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05069493502378464, + -0.0028993270825594664, + -0.03354089707136154, + -0.28788429498672485, + 0.6484511494636536, + 0.6428924202919006, + -0.28865736722946167 + ], + [ + 0.05245121940970421, + 0.0027370310854166746, + -0.030637629330158234, + -0.2767798900604248, + 0.6570204496383667, + 0.6422855854034424, + -0.28140050172805786 + ], + [ + 0.047434352338314056, + -0.0043953787535429, + -0.02709842100739479, + -0.28923946619033813, + 0.6375629305839539, + 0.6603963971138, + -0.2715337872505188 + ], + [ + 0.05268587917089462, + 0.004366980865597725, + -0.03090251237154007, + -0.2743973135948181, + 0.6538984179496765, + 0.6515083312988281, + -0.2695549428462982 + ] + ], + "camera1": [ + [ + 0.06799137592315674, + 0.5805333852767944, + 1.956607460975647, + 0.044886380434036255, + 0.01054947916418314, + 0.2796475887298584, + 0.9589948654174805 + ], + [ + 0.045494578778743744, + 0.5663745403289795, + 1.9324513673782349, + 0.04075014591217041, + 0.01848364807665348, + 0.28104737401008606, + 0.9586501717567444 + ], + [ + 0.05816757678985596, + 0.5959747433662415, + 1.9697424173355103, + 0.052000969648361206, + 0.025135990232229233, + 0.266117662191391, + 0.96220862865448 + ], + [ + 0.02519400417804718, + 0.5662321448326111, + 1.9400368928909302, + 0.02740968018770218, + 0.018826903775334358, + 0.2785038948059082, + 0.9598592519760132 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p002_e000/wrist.mp4 b/episodes/c4_p002_e000/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6e1e59753a3498c5cda4438ee5b4640dd2dbf813 --- /dev/null +++ b/episodes/c4_p002_e000/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:974cc197bd618a0a1345b4eedd3653c7905e75f90ffe429b4462ddf6d7a69889 +size 7163303 diff --git a/episodes/c4_p002_e001/data.npz b/episodes/c4_p002_e001/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..98401211233f0a15fc31bcd63894031b6109f388 --- /dev/null +++ b/episodes/c4_p002_e001/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0957a87a273b42745f5310b44751e976e7c0994323da26250e9b0f63aad4e41 +size 203929 diff --git a/episodes/c4_p002_e001/device_events.jsonl b/episodes/c4_p002_e001/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..561218e894ba6d19abc5b22429162ae843f0588a --- /dev/null +++ b/episodes/c4_p002_e001/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 258, "t": 1.29, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 258, "t": 1.29, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 263, "t": 1.315, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1648, "t": 8.24, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6583, "t": 32.915, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 7196, "t": 35.98, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7196, "t": 35.98, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.8774456492686347}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 7196, "t": 35.98, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 9, "step": 7196, "t": 35.98, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 10, "step": 7196, "t": 35.98, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 11, "step": 7615, "t": 38.075, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 12, "step": 7615, "t": 38.075, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.29999998211860657}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 7615, "t": 38.075, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.29999998211860657}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7615, "t": 38.075, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 7615, "t": 38.075, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7615, "t": 38.075, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 7615, "t": 38.075, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 18, "step": 7615, "t": 38.075, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 19, "step": 7615, "t": 38.075, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.8774456492686347}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 7991, "t": 39.955, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 21, "step": 7991, "t": 39.955, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.8800000000009618}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7991, "t": 39.955, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.8800000000009618}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 7991, "t": 39.955, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 24, "step": 7991, "t": 39.955, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 25, "step": 7991, "t": 39.955, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 26, "step": 8410, "t": 42.05, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 27, "step": 8410, "t": 42.05, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.6559079319431476e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8410, "t": 42.05, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.6559079319431476e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8410, "t": 42.05, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 8410, "t": 42.05, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8410, "t": 42.05, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 8990, "t": 44.95, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 33, "step": 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": 34, "step": 11188, "t": 55.94, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 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": 36, "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/c4_p002_e001/env.mp4 b/episodes/c4_p002_e001/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cd2ec00a8bb390954c5a6592fceb7afb04362919 --- /dev/null +++ b/episodes/c4_p002_e001/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30e3f47b019b1b6dadc6dcd3b1301252ca569c63366c6194c0892df17560b983 +size 1337919 diff --git a/episodes/c4_p002_e001/meta.json b/episodes/c4_p002_e001/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..73914a5a737cd809127e3d68341f1637d75487a6 --- /dev/null +++ b/episodes/c4_p002_e001/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p002/magicsim/1", + "fps": 25, + "frames": 1260, + "kept_ticks": "even", + "video_frames": { + "wrist": 1260, + "env": 1260 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c4_p002_e001/scene_snapshot.json b/episodes/c4_p002_e001/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..da4030770e29ea1c3933156b976304b493e8d3eb --- /dev/null +++ b/episodes/c4_p002_e001/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 1, + "env_id": 0, + "run_id": "c4_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5132904052734375, + 0.09563636779785156, + 0.8999999761581421 + ], + "ori": [ + -0.7040147185325623, + 0.0, + 0.0, + 0.7101854085922241 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.0092507342004953e-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": 0.16296318036505905, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.293880281180833, + "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": 0.16296318036505905, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.12807273864746094, + 1.1527023315429688, + 0.8999999761581421 + ], + "ori": [ + -0.010266010649502277, + -4.097115979817545e-10, + -5.005418302062026e-09, + 0.9999473094940186 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.361906557117436e-10, + 1.8881982644103346e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.1390584830905937e-07, + 3.615409838175765e-08, + 1.8044800098593328e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.8791131973266602, + 1.1500043869018555, + 0.8999999761581421 + ], + "ori": [ + -5.502606200025184e-06, + -8.580035570915356e-10, + 2.332799953208564e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.967376510123245e-10, + -4.5636647239000183e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 5.8458773821712384e-08, + -6.05393353225736e-08, + 3.2006119976557557e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6822242736816406, + 0.9027261734008789, + 0.8999999761581421 + ], + "ori": [ + 0.5954947471618652, + -2.8954111996881693e-08, + 6.326941193179891e-09, + 0.8033592104911804 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3551976207892835e-10, + -3.6637376465975535e-10, + 0.0 + ], + "angular_velocity": [ + 2.6770873517989457e-08, + -2.103430674083029e-08, + 1.806121474601241e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.1441488265991211, + 0.4474506378173828, + 0.8999999761581421 + ], + "ori": [ + -0.9999329447746277, + -2.3031949680785146e-09, + -1.3743959303980091e-09, + -0.011584331281483173 + ], + "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": [ + -5.226429067306526e-09, + -8.48603054492969e-09, + 2.9802322387695312e-08 + ], + "angular_velocity": [ + 3.656383285033371e-07, + -4.1707406239765987e-07, + -6.4476942895908e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.1410503387451172, + 1.1572275161743164, + 0.9179999828338623 + ], + "ori": [ + 0.016882779076695442, + -1.1738341409994746e-09, + -5.598606023227148e-09, + 0.999857485294342 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.7011672898424877e-08, + 3.789268987475225e-08, + 8.940696716308594e-08 + ], + "angular_velocity": [ + -7.660698315703485e-07, + 1.673662154644262e-06, + -5.675114156389327e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -0.8843069076538086, + 1.1428403854370117, + 0.9180000424385071 + ], + "ori": [ + -0.08335313946008682, + -8.264381956557543e-10, + 4.113856366672053e-09, + 0.9965201616287231 + ], + "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": [ + 3.807187454185623e-09, + 2.7251934042737957e-09, + -4.913657903671265e-06 + ], + "angular_velocity": [ + -1.2712021089100745e-06, + 1.5136320143938065e-06, + -6.68883544108212e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.6770076751708984, + 0.8859291076660156, + 0.9180000424385071 + ], + "ori": [ + 0.5408567190170288, + -2.7365089749764593e-08, + 9.8578025742313e-09, + 0.8411148190498352 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3315633040633656e-08, + -1.3548386412765012e-08, + -5.435198545455933e-06 + ], + "angular_velocity": [ + 1.1847898804262513e-06, + 1.4739772495886427e-06, + -1.1476783967623305e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -0.13763046264648438, + 0.446533203125, + 0.9179999828338623 + ], + "ori": [ + -0.9981417655944824, + -2.4106538987211934e-09, + -8.070646373425916e-10, + 0.06093423813581467 + ], + "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": [ + -1.429390721341406e-07, + -4.410850351632689e-08, + -1.0095536708831787e-06 + ], + "angular_velocity": [ + 8.619095410722366e-07, + -5.05651314597344e-06, + -1.5186650159648707e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 5.819999999999898, + "step": 1164, + "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": 1.0092507342004953e-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": 0.16296318036505905, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 905, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.02192726731300354, + 0.7027023434638977, + 0.0 + ], + "carrier_2": [ + -1.0291132032871246, + 0.7000043988227844, + 0.0 + ], + "carrier_3": [ + 1.5322242677211761, + 0.45272618532180786, + 0.0 + ], + "carrier_4": [ + -0.29414883255958557, + -0.0025493502616882324, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.395105893047357, + 0.5304763226054159, + 2.716307110753135 + ], + "ori": [ + 11.19530900446712, + -7.806221566908633, + -2.453000936575073 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6431.4693655714345, + "color": [ + 0.8245993101768351, + 0.9508820617002502, + 0.9440174544600066 + ], + "intensity": 4765.329694125933, + "width": 1.7976628441345328, + "height": 1.3302229712502625 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.6815377914943843, + -0.07361334915128137, + 2.6244410669111176 + ], + "ori": [ + 38.72472624932756, + 34.99008852810222, + -6.0711058634163635 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7308.225057840182, + "color": [ + 0.8840434482166705, + 0.7873799061307077, + 0.9373749551036872 + ], + "intensity": 8082.613732889329, + "radius": 0.180595555608346 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1487.7917010610722, + "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": [ + [ + 0.053240105509757996, + -0.003986010793596506, + -0.034043196588754654, + -0.2856940031051636, + 0.6504719853401184, + 0.6435160636901855, + -0.28487229347229004 + ], + [ + 0.05160956457257271, + 0.002302133943885565, + -0.0280905794352293, + -0.2735553979873657, + 0.6588008403778076, + 0.6428231000900269, + -0.27915459871292114 + ], + [ + 0.04842846468091011, + -0.0029601920396089554, + -0.029342375695705414, + -0.2895142734050751, + 0.6401320099830627, + 0.6549549102783203, + -0.27829214930534363 + ], + [ + 0.05362188071012497, + 0.002477789530530572, + -0.03072669729590416, + -0.27401769161224365, + 0.6572109460830688, + 0.6471067070960999, + -0.2724720239639282 + ] + ], + "camera1": [ + [ + 0.06799137592315674, + 0.5805333852767944, + 1.956607460975647, + 0.044886380434036255, + 0.01054947916418314, + 0.2796475887298584, + 0.9589948654174805 + ], + [ + 0.045494578778743744, + 0.5663745403289795, + 1.9324513673782349, + 0.04075014591217041, + 0.01848364807665348, + 0.28104737401008606, + 0.9586501717567444 + ], + [ + 0.05816757678985596, + 0.5959747433662415, + 1.9697424173355103, + 0.052000969648361206, + 0.025135990232229233, + 0.266117662191391, + 0.96220862865448 + ], + [ + 0.02519400417804718, + 0.5662321448326111, + 1.9400368928909302, + 0.02740968018770218, + 0.018826903775334358, + 0.2785038948059082, + 0.9598592519760132 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p002_e001/wrist.mp4 b/episodes/c4_p002_e001/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f7ac46624e01a2a974d81b55a1a32277c4983d93 --- /dev/null +++ b/episodes/c4_p002_e001/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44c5a8819c74a81ce538fe17e79bd4032c192ff2c29da59b5d8e01149f556370 +size 6819404 diff --git a/episodes/c4_p002_e002/data.npz b/episodes/c4_p002_e002/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5cb543d8f2bf08c76a5a42a7d63b737dff45ea28 --- /dev/null +++ b/episodes/c4_p002_e002/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:678c285ad70919d83780b91924bf4e0d7ab40fda7dc31984bc74f046dd3d1c8d +size 188223 diff --git a/episodes/c4_p002_e002/device_events.jsonl b/episodes/c4_p002_e002/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..834956968847865aa97d5a25e0bb29f731445468 --- /dev/null +++ b/episodes/c4_p002_e002/device_events.jsonl @@ -0,0 +1,35 @@ +{"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": 6963, "t": 34.815, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7572, "t": 37.86, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 7572, "t": 37.86, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.7147016654872655}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7572, "t": 37.86, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 7572, "t": 37.86, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 7572, "t": 37.86, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7991, "t": 39.955, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7991, "t": 39.955, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7991, "t": 39.955, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7991, "t": 39.955, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7991, "t": 39.955, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7991, "t": 39.955, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7991, "t": 39.955, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7991, "t": 39.955, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7991, "t": 39.955, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.7147016654872655}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8734, "t": 43.67, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 8734, "t": 43.67, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.7150000000019006}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8734, "t": 43.67, "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": 3.7150000000019006}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8734, "t": 43.67, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 8734, "t": 43.67, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 8734, "t": 43.67, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 9154, "t": 45.77, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 9154, "t": 45.77, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 9154, "t": 45.77, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 9154, "t": 45.77, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 9154, "t": 45.77, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 9154, "t": 45.77, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 9735, "t": 48.675, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 11448, "t": 57.24, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 11448, "t": 57.24, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11448, "t": 57.24, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11448, "t": 57.24, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c4_p002_e002/env.mp4 b/episodes/c4_p002_e002/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8c08778e7e337b02d4508b1c4073fbb2c5920826 --- /dev/null +++ b/episodes/c4_p002_e002/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eaee93c79fc2ef6b7e5675e8b853b38ea93588f48256997e6c08a00dbf4ae054 +size 1272542 diff --git a/episodes/c4_p002_e002/meta.json b/episodes/c4_p002_e002/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b087859c7a00c9db9d6ea1a4b1e9db138c328e80 --- /dev/null +++ b/episodes/c4_p002_e002/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p002/magicsim/2", + "fps": 25, + "frames": 1217, + "kept_ticks": "even", + "video_frames": { + "wrist": 1217, + "env": 1217 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c4_p002_e002/scene_snapshot.json b/episodes/c4_p002_e002/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..d2787d702bd86ca53745b949bffaa343823f071c --- /dev/null +++ b/episodes/c4_p002_e002/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 2, + "env_id": 3, + "run_id": "c4_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": [ + 0.49127864837646484, + 0.06891345977783203, + 0.8999999761581421 + ], + "ori": [ + -0.6909530162811279, + 0.0, + 0.0, + 0.7228996753692627 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.728334252595336e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.16780464425716848, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.0892859453167992, + "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": 0.16780464425716848, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.08588886260986328, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + 1.7556598322698846e-05, + 3.6663122537916593e-10, + 5.81641490526863e-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": [ + -1.5679277876046172e-09, + -9.123877764416477e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 6.179904943337533e-08, + -1.413764607605117e-07, + -7.0718559896931765e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4672527313232422, + 0.4736337661743164, + 0.8999999761581421 + ], + "ori": [ + 0.9855253100395203, + -1.2815573047220141e-09, + -8.506797932739119e-09, + 0.16952861845493317 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.5732228287344014e-10, + -4.804188158402667e-09, + 3.725290298461914e-08 + ], + "angular_velocity": [ + 3.4618309996403696e-07, + -1.9958255847996043e-07, + 3.06999670129926e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.06038951873779297, + 0.45000743865966797, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.2585452114375357e-09, + -5.977002892620931e-09, + -1.7254693375434726e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.8170023525528904e-11, + 2.7446017680787804e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.9177636307053945e-08, + 1.405951621791246e-08, + 6.30961949354969e-12 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3969850540161133, + 0.8176565170288086, + 0.8999999761581421 + ], + "ori": [ + -0.6874997615814209, + -1.4360702493831923e-07, + -3.440250395669864e-08, + 0.726184606552124 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7088302683987422e-07, + -1.1930410437344108e-06, + -2.6710331439971924e-06 + ], + "angular_velocity": [ + 9.931962267728522e-05, + -2.4626817321404815e-05, + -1.4296201698016375e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.09997844696044922, + 1.1538867950439453, + 0.9179999828338623 + ], + "ori": [ + 0.021514050662517548, + 1.5294292499135054e-09, + 3.9248453376217185e-09, + 0.9997686147689819 + ], + "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": [ + 1.2334983701123292e-08, + -9.0857144030565e-09, + 1.4528632164001465e-07 + ], + "angular_velocity": [ + -3.781340183195425e-07, + 1.762802412486053e-06, + -2.740890181485156e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 1.4723939895629883, + 0.48059749603271484, + 0.9180000424385071 + ], + "ori": [ + 0.9960288405418396, + 1.0408139905493385e-09, + -8.022436936983013e-09, + 0.08903217315673828 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.3347121447823156e-08, + -6.36822221622424e-08, + -5.956739187240601e-06 + ], + "angular_velocity": [ + 2.8435326839826303e-06, + -3.4508791486587143e-06, + 8.972924803174465e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.05352020263671875, + 0.4523611068725586, + 0.9180000424385071 + ], + "ori": [ + 0.9979588985443115, + 3.154611238898042e-09, + -5.330797581137858e-09, + 0.06386072188615799 + ], + "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": [ + 8.107137183799296e-10, + -1.275713756854202e-09, + -4.809349775314331e-06 + ], + "angular_velocity": [ + 1.1065585567848757e-06, + -1.5530047221545829e-06, + -1.0506565928380951e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.3999614715576172, + 0.8169450759887695, + 0.9179999828338623 + ], + "ori": [ + -0.6556528210639954, + -1.1901322238827561e-07, + -2.6552299914328614e-08, + 0.7550625801086426 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.5391675485007e-07, + -3.429099479035358e-06, + -4.295259714126587e-06 + ], + "angular_velocity": [ + 8.96306082722731e-05, + -1.1710391845554113e-05, + -1.074877445716993e-06 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 8.839999999999982, + "step": 1768, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.728334252595336e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.16780464425716848, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1624, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.0641111433506012, + 0.6999977231025696, + 0.0 + ], + "carrier_2": [ + 1.3172527253627777, + 0.02363377809524536, + 0.0 + ], + "carrier_3": [ + -0.08961048722267151, + 7.450580596923828e-06, + 0.0 + ], + "carrier_4": [ + -1.5469850599765778, + 0.36765652894973755, + 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": [ + 0.7219550799855566, + -0.10025545270126485, + 3.118528934067446 + ], + "ori": [ + -1.8015216659512987, + 1.5760017121410534, + -20.65862790711103 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6920.880860880297, + "color": [ + 0.8468857930181914, + 0.8016882547306062, + 0.9086710074249866 + ], + "intensity": 6121.708935139099, + "width": 1.8968698270628803, + "height": 0.9602687486467683 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.113774520647175, + 0.05596605169452795, + 2.6481217457600366 + ], + "ori": [ + 14.94539747174369, + -25.746411481109366, + 18.01388889522954 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6086.289884150448, + "color": [ + 0.9405134605554543, + 0.8786105547552919, + 0.7521696169999241 + ], + "intensity": 4817.723606795864, + "radius": 0.19572212808551587 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1487.7917010610722, + "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": [ + [ + 1.2521781921386719, + -1.342037320137024, + 2.3410489559173584, + -2.5699119567871094, + -1.5707767009735107, + 2.945035934448242, + 0.007770100142806768, + 0.007274409756064415 + ], + [ + 0.975848913192749, + -1.2721128463745117, + 2.1773078441619873, + -2.475949764251709, + -1.5707964897155762, + 2.549172878265381, + 0.018000055104494095, + 0.01799994334578514 + ], + [ + 1.0633926391601562, + -1.526981234550476, + 2.232386350631714, + -2.276158571243286, + -1.5707966089248657, + 2.6750645637512207, + 0.01800004579126835, + 0.017999954521656036 + ], + [ + 0.9141013622283936, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -0.0011661573080345988, + -0.0002873488701879978, + 0.0004023637739010155, + 0.00019853755657095462, + 0.00013135388144291937, + -0.0009391177445650101, + -0.005743786226958036, + 0.00023017489002086222 + ], + [ + -0.00012939187581650913, + 0.018750689923763275, + 0.006013302598148584, + -0.023472098633646965, + -8.109597729344387e-06, + 1.9887018424924463e-05, + -8.390067705477122e-06, + 8.391818482778035e-06 + ], + [ + -5.36691295565106e-05, + 0.015076106414198875, + 0.009925175458192825, + -0.023891031742095947, + -7.371038009296171e-06, + 8.8163411419373e-05, + -6.200396455824375e-06, + 6.175977887323825e-06 + ], + [ + -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": [ + [ + 0.05096079781651497, + -0.005119428038597107, + -0.03229152411222458, + -0.2843082845211029, + 0.6529462337493896, + 0.6436455845832825, + -0.2802683711051941 + ], + [ + 0.052790623158216476, + 0.001942205592058599, + -0.026498539373278618, + -0.27676403522491455, + 0.6537255644798279, + 0.6451717019081116, + -0.28248536586761475 + ], + [ + 0.04823385179042816, + -0.002459955168887973, + -0.02707880549132824, + -0.29047930240631104, + 0.6414717435836792, + 0.655318021774292, + -0.2733021676540375 + ], + [ + 0.05045514553785324, + 0.003069512313231826, + -0.029440246522426605, + -0.27871939539909363, + 0.6530729532241821, + 0.6495676040649414, + -0.2717961370944977 + ] + ], + "camera1": [ + [ + 0.06799137592315674, + 0.5805333852767944, + 1.956607460975647, + 0.044886380434036255, + 0.01054947916418314, + 0.2796475887298584, + 0.9589948654174805 + ], + [ + 0.045494578778743744, + 0.5663745403289795, + 1.9324513673782349, + 0.04075014591217041, + 0.01848364807665348, + 0.28104737401008606, + 0.9586501717567444 + ], + [ + 0.05816757678985596, + 0.5959747433662415, + 1.9697424173355103, + 0.052000969648361206, + 0.025135990232229233, + 0.266117662191391, + 0.96220862865448 + ], + [ + 0.02519400417804718, + 0.5662321448326111, + 1.9400368928909302, + 0.02740968018770218, + 0.018826903775334358, + 0.2785038948059082, + 0.9598592519760132 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p002_e002/wrist.mp4 b/episodes/c4_p002_e002/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3d7ceec4ce1df98d5c23a0b8e09bee5f538e7b3a --- /dev/null +++ b/episodes/c4_p002_e002/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8be6267e044deff892b834cfba5c6dde732f8f99169ee3c2169a8aecc5aa9e0c +size 6498110 diff --git a/episodes/c4_p002_e003/data.npz b/episodes/c4_p002_e003/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5261580b45b591fc1e1b961eb07d5ea80c202593 --- /dev/null +++ b/episodes/c4_p002_e003/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:008934d49680caa76d24df4662f0048366d9968e7cf127cab91c199412657f1f +size 192458 diff --git a/episodes/c4_p002_e003/device_events.jsonl b/episodes/c4_p002_e003/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..32baec4ab4e58a63010ab27ccb520a5bd79e5f4b --- /dev/null +++ b/episodes/c4_p002_e003/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 2, "seq": 1, "step": 161, "t": 0.805, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 161, "t": 0.805, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 166, "t": 0.83, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1953, "t": 9.765, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 2008, "t": 10.04, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 7031, "t": 35.155, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 7644, "t": 38.22, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 7644, "t": 38.22, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.1083864983614102}, "cause": "task-2-1"} +{"env_id": 2, "seq": 9, "step": 7644, "t": 38.22, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 7644, "t": 38.22, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 7644, "t": 38.22, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 8063, "t": 40.315, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 13, "step": 8063, "t": 40.315, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 8063, "t": 40.315, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 8063, "t": 40.315, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 16, "step": 8063, "t": 40.315, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 8063, "t": 40.315, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 18, "step": 8063, "t": 40.315, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 8063, "t": 40.315, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 8063, "t": 40.315, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.1083864983614102}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 8685, "t": 43.425, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 22, "step": 8685, "t": 43.425, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.110000000001591}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 8685, "t": 43.425, "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": 3.110000000001591}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 24, "step": 8685, "t": 43.425, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 8685, "t": 43.425, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 8685, "t": 43.425, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 9105, "t": 45.525, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 28, "step": 9105, "t": 45.525, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.755033700121203e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 9105, "t": 45.525, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.755033700121203e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 9105, "t": 45.525, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 31, "step": 9105, "t": 45.525, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 9105, "t": 45.525, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 33, "step": 9686, "t": 48.43, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 34, "step": 11484, "t": 57.42, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 11484, "t": 57.42, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 36, "step": 11484, "t": 57.42, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 37, "step": 11484, "t": 57.42, "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/c4_p002_e003/env.mp4 b/episodes/c4_p002_e003/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ae998fbbd44a4c65aa885bd3ad440a85493653ff --- /dev/null +++ b/episodes/c4_p002_e003/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3c7508310820748fd51ffb500d584324137149caf9c5b357149dafb3443edf8 +size 1213892 diff --git a/episodes/c4_p002_e003/meta.json b/episodes/c4_p002_e003/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1acd93c121429dad2ed74e613d62d6589d4397c6 --- /dev/null +++ b/episodes/c4_p002_e003/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p002/magicsim/3", + "fps": 25, + "frames": 1248, + "kept_ticks": "even", + "video_frames": { + "wrist": 1248, + "env": 1248 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c4_p002_e003/scene_snapshot.json b/episodes/c4_p002_e003/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..fd38f9fbba1e031aa5adca596d1643b7aca68924 --- /dev/null +++ b/episodes/c4_p002_e003/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 3, + "env_id": 2, + "run_id": "c4_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4789714813232422, + 0.05381488800048828, + 0.8999999761581421 + ], + "ori": [ + 0.7172253727912903, + 0.0, + 0.0, + -0.696841299533844 + ], + "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": [ + 2.3549155247354348e-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": 0.23527144262021202, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2138739746279616, + "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": 0.23527144262021202, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.2500600814819336, + 1.1524991989135742, + 0.8999999761581421 + ], + "ori": [ + -0.009640471078455448, + 3.816646165777371e-10, + 3.925121561110245e-09, + 0.9999535083770752 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.4757484951010156e-10, + 2.7722013573594495e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.298916885161816e-07, + 8.297018183611726e-09, + 1.0048148091357234e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.0643453598022461, + 0.44744873046875, + 0.8999999761581421 + ], + "ori": [ + 0.999952495098114, + 9.131695399844375e-10, + -3.1252062049347273e-10, + 0.009756584651768208 + ], + "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": [ + 3.6251619484062303e-09, + 2.720924596744112e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -1.611922044730818e-07, + 3.302687900941237e-07, + -2.776986107733137e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.3137664794921875, + 0.4499235153198242, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 6.39977715266582e-09, + 1.384390713177197e-09, + 0.00022005222854204476 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.1429518421741705e-09, + 3.3558649192855228e-09, + 3.3527612686157227e-08 + ], + "angular_velocity": [ + -8.343491231244116e-09, + 3.470546801054297e-07, + -3.5481356519539986e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2632102966308594, + 1.073568344116211, + 0.8999999761581421 + ], + "ori": [ + -0.3201201856136322, + 2.8370036986302694e-08, + -4.9040796312738166e-08, + 0.9473769068717957 + ], + "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": [ + -3.4797031922551014e-10, + 8.923675132166409e-10, + 0.0 + ], + "angular_velocity": [ + -1.661685367082555e-08, + -5.013554016386479e-09, + -1.3228804718323772e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.2427825927734375, + 1.141312599182129, + 0.9179999828338623 + ], + "ori": [ + -0.024891724810004234, + 1.9242138993291746e-09, + 6.4903185048592604e-09, + 0.9996901750564575 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.059772524238724e-08, + 6.600743063245318e-08, + 1.043081283569336e-07 + ], + "angular_velocity": [ + -1.7967918211070355e-06, + 1.8405609125693445e-06, + 9.804292488979627e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.05426502227783203, + 0.4348030090332031, + 0.9180000424385071 + ], + "ori": [ + 0.9997888207435608, + 1.0812942763394062e-09, + 3.6405262138217154e-10, + -0.020550252869725227 + ], + "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": [ + -7.245493982566131e-09, + 3.135954074195979e-08, + -5.509704351425171e-06 + ], + "angular_velocity": [ + -9.533218303658941e-07, + -1.6948848724496202e-06, + -7.440803528879769e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.3133792877197266, + 0.44739437103271484, + 0.9180000424385071 + ], + "ori": [ + 0.9991500973701477, + 1.3283409039388516e-08, + 1.3935893550254264e-09, + -0.04122244566679001 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.0729077121472983e-08, + 2.6820559995144322e-08, + -5.54695725440979e-06 + ], + "angular_velocity": [ + -5.870532504559378e-07, + -2.497248715371825e-06, + -2.0707904013761436e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.259012222290039, + 1.080388069152832, + 0.9179999828338623 + ], + "ori": [ + -0.33548179268836975, + 2.7741482000465112e-08, + -5.230593913552184e-08, + 0.9420467615127563 + ], + "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": [ + 2.5378383838869922e-09, + 4.747855797404554e-08, + -1.1548399925231934e-06 + ], + "angular_velocity": [ + -1.4923198250471614e-06, + 1.2288389825698687e-06, + -1.7742912916673959e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 7.699999999999858, + "step": 1540, + "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": 2.3549155247354348e-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": 0.23527144262021202, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1378, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.10006007552146912, + 0.7024992108345032, + 0.0 + ], + "carrier_2": [ + -0.21434536576271057, + -0.002551257610321045, + 0.0 + ], + "carrier_3": [ + 1.163766473531723, + -7.647275924682617e-05, + 0.0 + ], + "carrier_4": [ + -1.4132103025913239, + 0.6235683560371399, + 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": [ + 0.3493019771283018, + 0.2922143616053232, + 2.9304960953732158 + ], + "ori": [ + 11.572907773752739, + 11.376624498397248, + -9.809523492957368 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4798.958463312865, + "color": [ + 0.9006534590689764, + 0.8003013646281535, + 0.9258099901099377 + ], + "intensity": 12965.650935579284, + "width": 1.7485741434078337, + "height": 1.5655659596123657 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.2390585081783032, + 0.6782338428337564, + 1.7761587432060435 + ], + "ori": [ + -21.745132518659975, + -27.245859228430813, + 23.915807234002322 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6769.9772565586045, + "color": [ + 0.7545366506304039, + 0.7689204658685203, + 0.9120753662491676 + ], + "intensity": 6949.3082919689605, + "radius": 0.18052385618438907 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1487.7917010610722, + "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": [ + [ + 1.2518044710159302, + -1.447381854057312, + 2.3046865463256836, + -2.4280612468719482, + -1.5707951784133911, + 2.944432020187378, + 0.018000047653913498, + 0.017999954521656036 + ], + [ + 0.970482587814331, + -1.4944084882736206, + 2.067148208618164, + -2.1435046195983887, + -1.5707969665527344, + 2.543586015701294, + 0.018000977113842964, + 0.01799902319908142 + ], + [ + 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": [ + [ + -9.18334917514585e-05, + 0.019495651125907898, + 0.008281347341835499, + -0.02660728245973587, + -8.78744958754396e-06, + 8.123040606733412e-05, + -7.948104212118778e-06, + 7.898264811956324e-06 + ], + [ + 0.004324313718825579, + 0.018419180065393448, + -0.0016038687899708748, + -0.015758389607071877, + 3.022557393705938e-06, + 0.0046012550592422485, + 2.4202010536100715e-05, + -2.4225473680417053e-05 + ], + [ + 3.4059653444273863e-06, + 1.6549809482915845e-12, + 1.600509872204392e-12, + -3.405976030990132e-06, + -3.405978077353211e-06, + 7.931126458707305e-13, + 2.2299503010195926e-13, + 4.3138845902575274e-14 + ], + [ + -2.527969334572485e-38, + 1.5499014020516852e-38, + 3.8572760902926146e-38, + 5.210929902362941e-37, + -4.883688819832621e-38, + 4.337454158544144e-37, + 2.5990399166175848e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.052544061094522476, + -0.0017592111835256219, + -0.032720569521188736, + -0.28377068042755127, + 0.6502383947372437, + 0.6452929973602295, + -0.2833039462566376 + ], + [ + 0.053033798933029175, + 0.004213120322674513, + -0.030115555971860886, + -0.27504414319992065, + 0.6601865291595459, + 0.6412860751152039, + -0.2779507637023926 + ], + [ + 0.04679550603032112, + -0.0022435507271438837, + -0.02739661931991577, + -0.2881123125553131, + 0.6373042464256287, + 0.6603074073791504, + -0.2735483646392822 + ], + [ + 0.050397079437971115, + 0.002450615866109729, + -0.02915431372821331, + -0.2741599678993225, + 0.6516603827476501, + 0.6533727645874023, + -0.270701140165329 + ] + ], + "camera1": [ + [ + 0.06799137592315674, + 0.5805333852767944, + 1.956607460975647, + 0.044886380434036255, + 0.01054947916418314, + 0.2796475887298584, + 0.9589948654174805 + ], + [ + 0.045494578778743744, + 0.5663745403289795, + 1.9324513673782349, + 0.04075014591217041, + 0.01848364807665348, + 0.28104737401008606, + 0.9586501717567444 + ], + [ + 0.05816757678985596, + 0.5959747433662415, + 1.9697424173355103, + 0.052000969648361206, + 0.025135990232229233, + 0.266117662191391, + 0.96220862865448 + ], + [ + 0.02519400417804718, + 0.5662321448326111, + 1.9400368928909302, + 0.02740968018770218, + 0.018826903775334358, + 0.2785038948059082, + 0.9598592519760132 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p002_e003/wrist.mp4 b/episodes/c4_p002_e003/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5b9e4e4f88e3fd139dfca58d09892890333a5f6d --- /dev/null +++ b/episodes/c4_p002_e003/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9814f042c7499fe8b569836a3146fa6baedc0490272bd7b706f74381d8aad278 +size 7178654 diff --git a/episodes/c4_p002_e004/data.npz b/episodes/c4_p002_e004/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..4204475c60907ac5ed155dca9b3217b69a19e1a4 --- /dev/null +++ b/episodes/c4_p002_e004/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a92195c69227464a58ca6f327cfb5a23068f9903e6a9875624f492f84f7d2596 +size 183289 diff --git a/episodes/c4_p002_e004/device_events.jsonl b/episodes/c4_p002_e004/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..62c2a37299993072db4c4a3499163a301c4aa576 --- /dev/null +++ b/episodes/c4_p002_e004/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 267, "t": 1.335, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 267, "t": 1.335, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 272, "t": 1.36, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6087, "t": 30.435, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6700, "t": 33.5, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 6700, "t": 33.5, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.5317307542530274}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6700, "t": 33.5, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 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": 3, "seq": 9, "step": 6700, "t": 33.5, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 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": 3, "seq": 11, "step": 7119, "t": 35.595, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7119, "t": 35.595, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7119, "t": 35.595, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7119, "t": 35.595, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7119, "t": 35.595, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7119, "t": 35.595, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 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": 3, "seq": 18, "step": 7119, "t": 35.595, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.5317307542530274}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7426, "t": 37.13, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7426, "t": 37.13, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.5350000000007853}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7426, "t": 37.13, "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": 1.5350000000007853}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7426, "t": 37.13, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 7426, "t": 37.13, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7426, "t": 37.13, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 7846, "t": 39.23, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 7846, "t": 39.23, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.261204917226479e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 7846, "t": 39.23, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.261204917226479e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 7846, "t": 39.23, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 7846, "t": 39.23, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 7846, "t": 39.23, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8427, "t": 42.135, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 10132, "t": 50.66, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 10132, "t": 50.66, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10132, "t": 50.66, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 10132, "t": 50.66, "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/c4_p002_e004/env.mp4 b/episodes/c4_p002_e004/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..32c969422634015396c5d32c1159a3acba51a647 --- /dev/null +++ b/episodes/c4_p002_e004/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e947dfc48f4e41929723aa2f0d281e57d02b762a34a080bb284a9c1799ce466 +size 1190576 diff --git a/episodes/c4_p002_e004/meta.json b/episodes/c4_p002_e004/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e388ce06242992e3b406e96b7dacd7897cb33be7 --- /dev/null +++ b/episodes/c4_p002_e004/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p002/magicsim/4", + "fps": 25, + "frames": 1138, + "kept_ticks": "even", + "video_frames": { + "wrist": 1138, + "env": 1138 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c4_p002_e004/scene_snapshot.json b/episodes/c4_p002_e004/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..c3b8c8cb4046961e6c55f217365f93a7ec15bd2c --- /dev/null +++ b/episodes/c4_p002_e004/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 4, + "env_id": 3, + "run_id": "c4_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": [ + 0.49127864837646484, + 0.06891345977783203, + 0.8999999761581421 + ], + "ori": [ + -0.6909530162811279, + 0.0, + 0.0, + 0.7228996753692627 + ], + "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": [ + 2.3549157415758692e-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": 0.15252382879901058, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.12535206096426268, + "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": 0.15252382879901058, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.024877548217773438, + 0.44748973846435547, + 0.8999999761581421 + ], + "ori": [ + 0.9999256134033203, + 3.4699376705304985e-09, + -2.379196284429952e-10, + 0.012198164127767086 + ], + "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": [ + -9.32123933594653e-10, + -2.6846016520920557e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.908833695551948e-07, + -6.468061997111363e-08, + 1.7804506757812533e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5910348892211914, + 0.5500059127807617, + 0.8999999761581421 + ], + "ori": [ + 0.9274184703826904, + -3.027556516599361e-08, + 7.09788139374723e-08, + 0.3740253150463104 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.2525039873074775e-11, + 1.6655224421846526e-10, + 0.0 + ], + "angular_velocity": [ + -5.914284173513806e-09, + -1.8672077217729566e-08, + 1.4381746904490456e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.391530990600586, + 0.8628072738647461, + 0.8999999761581421 + ], + "ori": [ + -0.6391728520393372, + -3.6721242935300324e-08, + -8.181942945384435e-08, + 0.7690632343292236 + ], + "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": [ + -1.529018689438999e-09, + -3.975020756996628e-09, + 3.3527612686157227e-08 + ], + "angular_velocity": [ + 3.2963617968562176e-07, + 4.7503668554327305e-08, + 3.216669597350119e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6793975830078125, + 1.1523466110229492, + 0.8999999761581421 + ], + "ori": [ + -0.013302628882229328, + -1.2772739810262834e-10, + -2.3892685607762587e-09, + 0.9999116063117981 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4850511931285837e-09, + 1.5723164992209604e-08, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -5.42987606877432e-07, + 1.1707232516755539e-08, + 3.624626288001309e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.028412818908691406, + 0.45381641387939453, + 0.9179999828338623 + ], + "ori": [ + 0.9966829419136047, + 6.2763643171592776e-09, + 1.5343074588614058e-09, + -0.0813821479678154 + ], + "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": [ + -3.19839941198552e-08, + -5.733839003596586e-08, + 8.568167686462402e-08 + ], + "angular_velocity": [ + 1.2031792948619113e-06, + -1.9638337107608095e-06, + -7.799057044621804e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 1.5948820114135742, + 0.5613346099853516, + 0.9180000424385071 + ], + "ori": [ + 0.8843574523925781, + -2.0138845258088622e-08, + 7.418459091468321e-08, + 0.4668104648590088 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3878471705197626e-08, + -2.8964318943280887e-08, + -5.5655837059021e-06 + ], + "angular_velocity": [ + 2.6588600121613126e-06, + -3.2158922635971976e-07, + 6.123030260596352e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.3960323333740234, + 0.8517055511474609, + 0.9180000424385071 + ], + "ori": [ + -0.596071183681488, + -3.1945226908192126e-08, + -8.351018010444022e-08, + 0.8029316663742065 + ], + "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": [ + -1.016485740024109e-08, + -2.803098198000953e-09, + -5.424022674560547e-06 + ], + "angular_velocity": [ + -2.3462375793315005e-06, + 3.54253103296287e-07, + 7.135092516818986e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.6693687438964844, + 1.1620874404907227, + 0.9179999828338623 + ], + "ori": [ + -0.0731227844953537, + -3.923386504567361e-09, + -1.5850556422947193e-09, + 0.9973230361938477 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.742301022517495e-08, + 1.1372047481472691e-07, + -9.98377799987793e-07 + ], + "angular_velocity": [ + -1.8051828192255925e-06, + 2.544776862123399e-06, + 7.329405349310036e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 5.439999999999906, + "step": 1088, + "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": 2.3549157415758692e-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": 0.15252382879901058, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 820, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.12512245774269104, + -0.002510249614715576, + 0.0 + ], + "carrier_2": [ + 1.441034883260727, + 0.10000592470169067, + 0.0 + ], + "carrier_3": [ + -1.5415309965610504, + 0.41280728578567505, + 0.0 + ], + "carrier_4": [ + 0.529397577047348, + 0.7023466229438782, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.13322360357171176, + -0.2195885009562919, + 3.166297420333732 + ], + "ori": [ + 0.08802810170332442, + 7.805534943493239, + 26.697733073859503 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5147.30910208094, + "color": [ + 0.8217177685288809, + 0.8384087381999648, + 0.953702026948554 + ], + "intensity": 6949.495279924989, + "width": 2.67396277571983, + "height": 1.1068067673725783 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.2200876190691337, + 1.1215193219666906, + 1.7096126383357788 + ], + "ori": [ + -8.757567693533879, + -38.82324649517693, + -33.4845657389501 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5753.6375426226405, + "color": [ + 0.8978958573926773, + 0.8289293448385168, + 0.9513646126014615 + ], + "intensity": 7096.359209418491, + "radius": 0.16951756640920834 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1216.6487915644495, + "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": [ + [ + 0.9141026735305786, + -1.7193981409072876, + 2.0904994010925293, + -1.9419013261795044, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.2710988521575928, + -1.4972058534622192, + 2.129112720489502, + -2.2026655673980713, + -1.5707963705062866, + 2.7067248821258545, + 0.018000047653913498, + 0.017999952659010887 + ], + [ + 0.9141017198562622, + -1.7193979024887085, + 2.090498685836792, + -1.9419000148773193, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -2.424550705308385e-38, + 2.199683499959103e-38, + 1.8024520993427826e-38, + 5.931964551961084e-37, + -5.959138531781271e-37, + 2.6884651372076288e-36, + 2.5990400942532688e-08, + -2.599039206074849e-08 + ], + [ + -0.00012402841821312904, + 0.01260712556540966, + 0.010037664324045181, + -0.021454807370901108, + -7.614357400598237e-06, + -2.0783088984899223e-05, + -5.572671398113016e-06, + 5.548386525333626e-06 + ], + [ + -2.2356860804940754e-38, + 0.0, + 0.0, + 6.543570122921945e-37, + -6.7001563701039486e-37, + -5.623450646315755e-37, + 4.4076710946177947e-38, + -4.624578644430019e-38 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05082122981548309, + -0.0020601199939846992, + -0.03273346275091171, + -0.28641101717948914, + 0.6515109539031982, + 0.6463307738304138, + -0.2752431333065033 + ], + [ + 0.052882611751556396, + 0.005323280114680529, + -0.02808011882007122, + -0.2811688780784607, + 0.6577683091163635, + 0.6398718357086182, + -0.28080058097839355 + ], + [ + 0.05096855014562607, + -0.003349119797348976, + -0.02793159708380699, + -0.28830718994140625, + 0.6412470936775208, + 0.6571453809738159, + -0.27173712849617004 + ], + [ + 0.05398687347769737, + 0.004274751991033554, + -0.0303847324103117, + -0.27740833163261414, + 0.652660071849823, + 0.6491126418113708, + -0.2751949429512024 + ] + ], + "camera1": [ + [ + 0.06799137592315674, + 0.5805333852767944, + 1.956607460975647, + 0.044886380434036255, + 0.01054947916418314, + 0.2796475887298584, + 0.9589948654174805 + ], + [ + 0.045494578778743744, + 0.5663745403289795, + 1.9324513673782349, + 0.04075014591217041, + 0.01848364807665348, + 0.28104737401008606, + 0.9586501717567444 + ], + [ + 0.05816757678985596, + 0.5959747433662415, + 1.9697424173355103, + 0.052000969648361206, + 0.025135990232229233, + 0.266117662191391, + 0.96220862865448 + ], + [ + 0.02519400417804718, + 0.5662321448326111, + 1.9400368928909302, + 0.02740968018770218, + 0.018826903775334358, + 0.2785038948059082, + 0.9598592519760132 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p002_e004/wrist.mp4 b/episodes/c4_p002_e004/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..69347861e9d6c0ec88778c662923e110d77cd407 --- /dev/null +++ b/episodes/c4_p002_e004/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99c9ccef1b3b2da7962c5a63e144c6edc0f99d1344e57656aefd1eb9b9b2380e +size 6215766 diff --git a/episodes/c4_p002_e005/data.npz b/episodes/c4_p002_e005/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..b09c7f7ecdb1193fec3f28526af48bc8f3f8a6cc --- /dev/null +++ b/episodes/c4_p002_e005/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1bec1d272a4707522bbf616e9c8478ed2e016581590bbd9092e709e84d05fe1d +size 188342 diff --git a/episodes/c4_p002_e005/device_events.jsonl b/episodes/c4_p002_e005/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..959057e7c35f963a932556b875e8bd410372e38b --- /dev/null +++ b/episodes/c4_p002_e005/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 107, "t": 0.535, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 107, "t": 0.535, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 112, "t": 0.56, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6331, "t": 31.655, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6944, "t": 34.72, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 6, "step": 6944, "t": 34.72, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.3817563983524934}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6944, "t": 34.72, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 8, "step": 6944, "t": 34.72, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 6944, "t": 34.72, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 7363, "t": 36.815, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 7363, "t": 36.815, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 7363, "t": 36.815, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7363, "t": 36.815, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7363, "t": 36.815, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7363, "t": 36.815, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7363, "t": 36.815, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 17, "step": 7363, "t": 36.815, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 7363, "t": 36.815, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.3817563983524934}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7840, "t": 39.2, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 7840, "t": 39.2, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.38500000000122}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7840, "t": 39.2, "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": 2.38500000000122}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7840, "t": 39.2, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 23, "step": 7840, "t": 39.2, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 7840, "t": 39.2, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 8260, "t": 41.3, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 8260, "t": 41.3, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 9.68684688018584e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8260, "t": 41.3, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 9.68684688018584e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8260, "t": 41.3, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8260, "t": 41.3, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8260, "t": 41.3, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8843, "t": 44.215, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 10580, "t": 52.9, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 33, "step": 10580, "t": 52.9, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10580, "t": 52.9, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10580, "t": 52.9, "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/c4_p002_e005/env.mp4 b/episodes/c4_p002_e005/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f204b0d02a08ae8ff3afb9b719926b12390a2d18 --- /dev/null +++ b/episodes/c4_p002_e005/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:807ba85b0afb29326fa9c48916b421ac3afc56b6dfdfab7e0e4225f93b919f87 +size 1231728 diff --git a/episodes/c4_p002_e005/meta.json b/episodes/c4_p002_e005/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..55ee00e19850da392e2dbf849fa50944a8079296 --- /dev/null +++ b/episodes/c4_p002_e005/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p002/magicsim/5", + "fps": 25, + "frames": 1188, + "kept_ticks": "even", + "video_frames": { + "wrist": 1188, + "env": 1188 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c4_p002_e005/scene_snapshot.json b/episodes/c4_p002_e005/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..6961142b6146a3e81ca0bf8237461dee8fbc190e --- /dev/null +++ b/episodes/c4_p002_e005/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 5, + "env_id": 2, + "run_id": "c4_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4789714813232422, + 0.05381488800048828, + 0.8999999761581421 + ], + "ori": [ + 0.7172253727912903, + 0.0, + 0.0, + -0.696841299533844 + ], + "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": [ + 1.6820834005185081e-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": 0.2977924449709101, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2540422639030797, + "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": 0.2977924449709101, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.10375499725341797, + 0.44794559478759766, + 0.8999999761581421 + ], + "ori": [ + 0.9999035596847534, + 1.1311407366321191e-09, + -8.698899239822921e-11, + 0.013894105330109596 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.569539387347163e-09, + -4.812326981351589e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.6464579744024377e-07, + -7.67563150816386e-08, + -5.7634228056713255e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5738754272460938, + 1.1525373458862305, + 0.8999999761581421 + ], + "ori": [ + -0.010975644923746586, + -1.2799132587115736e-10, + 4.538730724590323e-09, + 0.9999398589134216 + ], + "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": [ + -7.482021668892003e-10, + -1.0380747372806809e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 7.711250304964778e-08, + -7.86273659514336e-08, + -4.425882771386114e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4276418685913086, + 0.4621467590332031, + 0.8999999761581421 + ], + "ori": [ + 0.9947503805160522, + -1.6331101804212267e-08, + 1.4960406247155333e-07, + 0.10233178734779358 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2079102589268587e-06, + 1.8501462761832954e-07, + -2.7902424335479736e-06 + ], + "angular_velocity": [ + -2.37445183302043e-05, + 0.00010645727888913825, + -8.537705298294895e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3914518356323242, + 0.8644161224365234, + 0.8999999761581421 + ], + "ori": [ + -0.6298666000366211, + -6.567928068079709e-08, + -7.263803070145514e-08, + 0.776703417301178 + ], + "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": [ + -4.1201246858690865e-09, + 2.810501831262968e-09, + 0.0 + ], + "angular_velocity": [ + -1.99560474811733e-07, + -2.7054085194322397e-07, + 1.3133654164221298e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -0.08996200561523438, + 0.45726585388183594, + 0.9179999828338623 + ], + "ori": [ + 0.9964767694473267, + 5.36574251697175e-09, + 5.221119647735861e-10, + -0.08386951684951782 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.036370336914842e-08, + -7.725618189624583e-08, + 1.862645149230957e-07 + ], + "angular_velocity": [ + 1.6964920632744906e-06, + -3.6712531255034264e-06, + -1.664028843606502e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.5884628295898438, + 1.144362449645996, + 0.9180000424385071 + ], + "ori": [ + -0.04650888219475746, + 7.560404524653563e-10, + 4.656627083932108e-09, + 0.9989178776741028 + ], + "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": [ + 2.495337270147502e-12, + -2.377456231883457e-09, + -5.029141902923584e-06 + ], + "angular_velocity": [ + -1.9371484540897654e-06, + 1.930891812662594e-06, + -8.838775755748429e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.417642593383789, + 0.4664182662963867, + 0.9179999828338623 + ], + "ori": [ + 0.9827005863189697, + -4.222677318921342e-09, + 1.479950526572793e-07, + 0.1852014809846878 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.32879824579868e-06, + 4.47808389480997e-07, + -7.852911949157715e-06 + ], + "angular_velocity": [ + -2.4507193302270025e-05, + 0.00010652415221557021, + -1.990226792258909e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.397047996520996, + 0.869023323059082, + 0.9179999828338623 + ], + "ori": [ + -0.6389949917793274, + -6.677260699916587e-08, + -7.196060636260881e-08, + 0.7692109942436218 + ], + "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": [ + 2.0470949380069214e-08, + 2.223669071099721e-07, + -9.834766387939453e-07 + ], + "angular_velocity": [ + -1.0596664651529863e-05, + 2.7792116270575207e-06, + -1.2213381239689625e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 5.539999999999904, + "step": 1108, + "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": 1.6820834005185081e-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": 0.2977924449709101, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1000, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.25375500321388245, + -0.0020543932914733887, + 0.0 + ], + "carrier_2": [ + 0.4238754212856293, + 0.7025373578071594, + 0.0 + ], + "carrier_3": [ + 1.2776418626308441, + 0.01214677095413208, + 0.0 + ], + "carrier_4": [ + -1.5414518415927887, + 0.4144161343574524, + 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": [ + 0.3818138602979174, + -0.19066780764982455, + 2.7528522900042787 + ], + "ori": [ + 0.9511544960769935, + 0.6640336612201878, + -5.536263159714338 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3712.959886051668, + "color": [ + 0.8293251009200054, + 0.893292408649647, + 0.9370078117781406 + ], + "intensity": 8507.995981584154, + "width": 1.7759430453875047, + "height": 1.48256797961357 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.4426874152858251, + -1.1247395694535884, + 1.9446797763761572 + ], + "ori": [ + -6.340664602276355, + -35.2082241835221, + -9.786468760062313 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 2802.3996223795634, + "color": [ + 0.9221317375452349, + 0.981567148795845, + 0.784969677155389 + ], + "intensity": 7046.004226882296, + "radius": 0.16805514855329698 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1216.6487915644495, + "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": [ + [ + 0.9141026735305786, + -1.7193981409072876, + 2.0904994010925293, + -1.9419013261795044, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.2711095809936523, + -1.458581566810608, + 2.1574857234954834, + -2.269658088684082, + -1.5707963705062866, + 2.706730842590332, + 0.01800004579126835, + 0.017999952659010887 + ], + [ + 0.9141017198562622, + -1.7193979024887085, + 2.090498685836792, + -1.9419000148773193, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9135209918022156, + -1.6954773664474487, + 2.0947389602661133, + -1.970029592514038, + -1.5707999467849731, + 2.5046074390411377, + 0.018000833690166473, + 0.01799919269979 + ] + ], + "joint_vel": [ + [ + -2.424550705308385e-38, + 2.199683499959103e-38, + 1.8024520993427826e-38, + 5.931964551961084e-37, + -5.959138531781271e-37, + 2.6884651372076288e-36, + 2.5990400942532688e-08, + -2.599039206074849e-08 + ], + [ + -0.0001170068426290527, + 0.014665117487311363, + 0.009729831479489803, + -0.023197967559099197, + -8.04728642833652e-06, + 1.9988063286291435e-05, + -6.785712685086764e-06, + 6.787580332456855e-06 + ], + [ + -2.2356860804940754e-38, + 0.0, + 0.0, + 6.543570122921945e-37, + -6.7001563701039486e-37, + -5.623450646315755e-37, + 4.4076710946177947e-38, + -4.624578644430019e-38 + ], + [ + -0.0006209814455360174, + 0.016944102942943573, + 0.0031685258727520704, + -0.018954886123538017, + -7.100723905750783e-06, + 0.013289134949445724, + 2.6872390662902035e-05, + -2.7117686840938404e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05338186398148537, + -0.0020234824623912573, + -0.03208651393651962, + -0.2795984148979187, + 0.6522009372711182, + 0.6452382802963257, + -0.2830657958984375 + ], + [ + 0.053594108670949936, + 0.0030601101461797953, + -0.028928419575095177, + -0.27997782826423645, + 0.6531276106834412, + 0.6438540816307068, + -0.2837051749229431 + ], + [ + 0.046887774020433426, + -0.003154933685436845, + -0.02549459971487522, + -0.2859630286693573, + 0.6423661708831787, + 0.6560299396514893, + -0.27425462007522583 + ], + [ + 0.0525672510266304, + 0.003995086066424847, + -0.028961198404431343, + -0.27226582169532776, + 0.650516927242279, + 0.6535013914108276, + -0.27501818537712097 + ] + ], + "camera1": [ + [ + 0.06799137592315674, + 0.5805333852767944, + 1.956607460975647, + 0.044886380434036255, + 0.01054947916418314, + 0.2796475887298584, + 0.9589948654174805 + ], + [ + 0.045494578778743744, + 0.5663745403289795, + 1.9324513673782349, + 0.04075014591217041, + 0.01848364807665348, + 0.28104737401008606, + 0.9586501717567444 + ], + [ + 0.05816757678985596, + 0.5959747433662415, + 1.9697424173355103, + 0.052000969648361206, + 0.025135990232229233, + 0.266117662191391, + 0.96220862865448 + ], + [ + 0.02519400417804718, + 0.5662321448326111, + 1.9400368928909302, + 0.02740968018770218, + 0.018826903775334358, + 0.2785038948059082, + 0.9598592519760132 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p002_e005/wrist.mp4 b/episodes/c4_p002_e005/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5ca2f33b20381934499c713f71f4118b8fe5a0e4 --- /dev/null +++ b/episodes/c4_p002_e005/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94dfef915ca7df311aa0a2ed71c7fe8a89a5f610aba0363374a115932fa6e7d8 +size 7186856 diff --git a/episodes/c4_p002_e006/data.npz b/episodes/c4_p002_e006/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..f032f1fa89e07cd6726431b77828abeb8e177cbb --- /dev/null +++ b/episodes/c4_p002_e006/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1c461ae387dbc3a807a07c323b9a8d758af1a8709a236837a2275b5f15af52f +size 188336 diff --git a/episodes/c4_p002_e006/device_events.jsonl b/episodes/c4_p002_e006/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a758fbbdcaf189958b3bf53a05727335b0b88953 --- /dev/null +++ b/episodes/c4_p002_e006/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 125, "t": 0.625, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 125, "t": 0.625, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 130, "t": 0.65, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6572, "t": 32.86, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 7184, "t": 35.92, "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": 7184, "t": 35.92, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.2689271205887658}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7184, "t": 35.92, "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": 7184, "t": 35.92, "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": 7184, "t": 35.92, "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": 7603, "t": 38.015, "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": 7603, "t": 38.015, "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": 7603, "t": 38.015, "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": 7603, "t": 38.015, "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": 7603, "t": 38.015, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7603, "t": 38.015, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7603, "t": 38.015, "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": 7603, "t": 38.015, "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": 7603, "t": 38.015, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.2689271205887658}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 8257, "t": 41.285, "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": 8257, "t": 41.285, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.270000000001673}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8257, "t": 41.285, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.270000000001673}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8257, "t": 41.285, "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": 8257, "t": 41.285, "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": 8257, "t": 41.285, "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": 8677, "t": 43.385, "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": 8677, "t": 43.385, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.9324569439381776e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8677, "t": 43.385, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.9324569439381776e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8677, "t": 43.385, "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": 8677, "t": 43.385, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8677, "t": 43.385, "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": 9259, "t": 46.295, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 11012, "t": 55.06, "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": 11012, "t": 55.06, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11012, "t": 55.06, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 11012, "t": 55.06, "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/c4_p002_e006/env.mp4 b/episodes/c4_p002_e006/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4eeff6ac4e411240caf60eca39de96e97e5e694b --- /dev/null +++ b/episodes/c4_p002_e006/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c12adf9f4e7407d94ec8b2661c432c7ce4222330d4e1a9ba3ee7606536a2fbd0 +size 1206202 diff --git a/episodes/c4_p002_e006/meta.json b/episodes/c4_p002_e006/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..76cb92a75d53684ac11bcdaf3ece098b78b42089 --- /dev/null +++ b/episodes/c4_p002_e006/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p002/magicsim/6", + "fps": 25, + "frames": 1189, + "kept_ticks": "even", + "video_frames": { + "wrist": 1189, + "env": 1189 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c4_p002_e006/scene_snapshot.json b/episodes/c4_p002_e006/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..b3b3aa928bcfd43d654ea6dee0d0d59f895ea466 --- /dev/null +++ b/episodes/c4_p002_e006/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 6, + "env_id": 0, + "run_id": "c4_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5132904052734375, + 0.09563636779785156, + 0.8999999761581421 + ], + "ori": [ + -0.7040147185325623, + 0.0, + 0.0, + 0.7101854085922241 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 4.036999467355029e-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": 0.27502317353654504, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2253901258962214, + "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": 0.27502317353654504, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.07490730285644531, + 0.4472198486328125, + 0.8999999761581421 + ], + "ori": [ + 0.9999586939811707, + -6.053098577929461e-10, + -7.596425710687527e-10, + 0.009098577313125134 + ], + "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": [ + -5.816673809277972e-10, + 1.6543266756485764e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.2918032155084802e-07, + -6.340223279721613e-08, + -5.51096146494956e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.32215213775634766, + 1.1525897979736328, + 0.8999999761581421 + ], + "ori": [ + -0.011655366979539394, + -2.5098723099858944e-10, + 5.510781164730361e-09, + 0.9999321103096008 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.222922815408594e-10, + -1.128017568241546e-09, + 0.0 + ], + "angular_velocity": [ + 1.660264388192445e-07, + -4.8675786956664524e-08, + -1.3966115375296795e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3536739349365234, + 0.6303195953369141, + 0.8999999761581421 + ], + "ori": [ + -0.8576111197471619, + -3.905472834020429e-09, + -2.759434458710075e-08, + 0.5142989158630371 + ], + "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": [ + -4.248482676771914e-10, + 5.21187537572132e-11, + 0.0 + ], + "angular_velocity": [ + -5.590731433358087e-09, + -5.68815465840089e-08, + -5.099389355223138e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.334639549255371, + 0.4500999450683594, + 0.8999999761581421 + ], + "ori": [ + 0.9998441338539124, + 9.856304217237266e-09, + -3.468102605097556e-08, + 0.017657926306128502 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.742012756267286e-09, + 5.429276139778949e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + -1.299384280173399e-07, + -2.1494885515949136e-07, + 5.0481666846735607e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -0.08156013488769531, + 0.43912601470947266, + 0.9179999828338623 + ], + "ori": [ + 0.9959374666213989, + -1.9511705584562833e-09, + 4.1529679695173627e-10, + 0.09004790335893631 + ], + "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": [ + -3.169118301116214e-08, + 1.345068412206274e-08, + 1.1175870895385742e-07 + ], + "angular_velocity": [ + 6.0567657556021e-09, + -1.6888411664695013e-06, + 1.5638656236660609e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.3272972106933594, + 1.1544151306152344, + 0.9180000424385071 + ], + "ori": [ + -0.08262266963720322, + 1.5814628773203054e-10, + 5.5138764665230156e-09, + 0.9965808987617493 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2328868592703657e-08, + -9.860626093427527e-09, + -5.338340997695923e-06 + ], + "angular_velocity": [ + -1.3184853742131963e-07, + 9.57166776061058e-07, + 7.724772643769029e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.3587799072265625, + 0.6318025588989258, + 0.9180000424385071 + ], + "ori": [ + -0.8405635356903076, + -2.513392383107771e-09, + -2.7601849694747216e-08, + 0.5417128801345825 + ], + "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": [ + -3.029325679193562e-09, + 3.236060308609012e-08, + -5.580484867095947e-06 + ], + "angular_velocity": [ + -9.217212664225372e-07, + -8.182732358363864e-07, + 1.2798167858818488e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.3336973190307617, + 0.46061229705810547, + 0.9179999828338623 + ], + "ori": [ + 0.9986667037010193, + 1.1026623170096173e-08, + -3.4598492959503346e-08, + 0.05162334069609642 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1625625973010756e-07, + -5.801314983955308e-08, + -1.2665987014770508e-06 + ], + "angular_velocity": [ + 2.076383452731534e-06, + -4.329583589424146e-06, + 2.2793528842157684e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 7.6799999999998585, + "step": 1536, + "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": 4.036999467355029e-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": 0.27502317353654504, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1410, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.2249073088169098, + -0.002780139446258545, + 0.0 + ], + "carrier_2": [ + 0.17215213179588318, + 0.7025898098945618, + 0.0 + ], + "carrier_3": [ + -1.503673940896988, + 0.18031960725784302, + 0.0 + ], + "carrier_4": [ + 1.1846395432949066, + 9.995698928833008e-05, + 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": [ + 0.765554363188725, + -0.03525996710430218, + 3.0345822203789683 + ], + "ori": [ + 6.9013717047765795, + 7.513319960561777, + 29.840547075004352 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6838.264252936562, + "color": [ + 0.9316279832786808, + 0.8029771807518811, + 0.8681730572637958 + ], + "intensity": 15368.208633424492, + "width": 1.6963173525307622, + "height": 1.7335656577166705 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.3647896503945296, + -0.8857758472505631, + 2.2957585790102333 + ], + "ori": [ + 11.494628549290951, + -21.663539266332243, + -8.49238099847679 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6244.477394088444, + "color": [ + 0.8678149178411796, + 0.8139810048450312, + 0.9487129114838072 + ], + "intensity": 3834.7713177657706, + "radius": 0.1530387810299556 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1216.6487915644495, + "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": [ + [ + 0.9141026735305786, + -1.7193981409072876, + 2.0904994010925293, + -1.9419013261795044, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.2712565660476685, + -1.2831395864486694, + 2.2361159324645996, + -2.5237507820129395, + -1.5707955360412598, + 2.7068238258361816, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 1.1049561500549316, + -1.6147572994232178, + 2.1693832874298096, + -2.1253981590270996, + -1.5707968473434448, + 2.8115246295928955, + 0.01800045184791088, + 0.01799958012998104 + ], + [ + 0.9095500111579895, + -1.5060853958129883, + 2.1432855129241943, + -2.2079544067382812, + -1.5707964897155762, + 2.6422810554504395, + 0.0180000439286232, + 0.017999956384301186 + ] + ], + "joint_vel": [ + [ + -2.424550705308385e-38, + 2.199683499959103e-38, + 1.8024520993427826e-38, + 5.931964551961084e-37, + -5.959138531781271e-37, + 2.6884651372076288e-36, + 2.5990400942532688e-08, + -2.599039206074849e-08 + ], + [ + -6.867313641123474e-05, + 0.010410956107079983, + 0.003345151897519827, + -0.013103923760354519, + -7.921669748611748e-06, + 2.0015386326122098e-05, + -5.617249826173065e-06, + 5.617805982183199e-06 + ], + [ + 0.01933448389172554, + 0.01074950210750103, + 0.008209573104977608, + -0.01820894330739975, + 3.5472803574521095e-05, + 0.032509926706552505, + 5.373476597014815e-06, + -5.715840870834654e-06 + ], + [ + -0.00010616503277560696, + 0.011837673373520374, + 0.00933254137635231, + -0.02012091502547264, + -1.018615785142174e-05, + 5.417666397988796e-05, + -5.180755124456482e-06, + 5.156170118425507e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05249938368797302, + -0.0016349582001566887, + -0.03161517530679703, + -0.2816198766231537, + 0.6552096605300903, + 0.6441616415977478, + -0.2764892280101776 + ], + [ + 0.053692933171987534, + 0.0017968175234273076, + -0.027851371094584465, + -0.2751404643058777, + 0.6574772000312805, + 0.6447271704673767, + -0.2763119339942932 + ], + [ + 0.0497441291809082, + -0.0004476148169487715, + -0.027021009474992752, + -0.28734368085861206, + 0.6413630843162537, + 0.6554887294769287, + -0.2764444351196289 + ], + [ + 0.04925500601530075, + 0.004297463223338127, + -0.028397254645824432, + -0.27663132548332214, + 0.6540176868438721, + 0.6508026123046875, + -0.268685519695282 + ] + ], + "camera1": [ + [ + 0.06799137592315674, + 0.5805333852767944, + 1.956607460975647, + 0.044886380434036255, + 0.01054947916418314, + 0.2796475887298584, + 0.9589948654174805 + ], + [ + 0.045494578778743744, + 0.5663745403289795, + 1.9324513673782349, + 0.04075014591217041, + 0.01848364807665348, + 0.28104737401008606, + 0.9586501717567444 + ], + [ + 0.05816757678985596, + 0.5959747433662415, + 1.9697424173355103, + 0.052000969648361206, + 0.025135990232229233, + 0.266117662191391, + 0.96220862865448 + ], + [ + 0.02519400417804718, + 0.5662321448326111, + 1.9400368928909302, + 0.02740968018770218, + 0.018826903775334358, + 0.2785038948059082, + 0.9598592519760132 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p002_e006/wrist.mp4 b/episodes/c4_p002_e006/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fa7c6be8e8088263e23f079465761c8fafa94b2f --- /dev/null +++ b/episodes/c4_p002_e006/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cde7721c0131fb396e932ad82215fa8c5b3721c70e4c81470de7f279473fe8bd +size 6781988 diff --git a/episodes/c4_p002_e007/data.npz b/episodes/c4_p002_e007/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..3dd91b10f92a7f166c83f599ac4e7adf5a3bf9aa --- /dev/null +++ b/episodes/c4_p002_e007/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7115272ac5e36771af92400961181f60bad83bce265b0753d285b3ee0bb59f66 +size 188934 diff --git a/episodes/c4_p002_e007/device_events.jsonl b/episodes/c4_p002_e007/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d1bdeb7896f8d02537ee0af1b4b99281cc3e1872 --- /dev/null +++ b/episodes/c4_p002_e007/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 58, "t": 0.29, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 58, "t": 0.29, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 63, "t": 0.315, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6659, "t": 33.295, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7272, "t": 36.36, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 7272, "t": 36.36, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.932362459348369}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7272, "t": 36.36, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 7272, "t": 36.36, "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": 7272, "t": 36.36, "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": 7691, "t": 38.455, "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": 7691, "t": 38.455, "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": 7691, "t": 38.455, "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": 7691, "t": 38.455, "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": 7691, "t": 38.455, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7691, "t": 38.455, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7691, "t": 38.455, "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": 7691, "t": 38.455, "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": 7691, "t": 38.455, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.932362459348369}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8478, "t": 42.39, "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": 8478, "t": 42.39, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.935000000002013}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8478, "t": 42.39, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.935000000002013}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8478, "t": 42.39, "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": 8478, "t": 42.39, "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": 8478, "t": 42.39, "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": 8898, "t": 44.49, "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": 8898, "t": 44.49, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8898, "t": 44.49, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8898, "t": 44.49, "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": 8898, "t": 44.49, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8898, "t": 44.49, "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": 9479, "t": 47.395, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 11256, "t": 56.28, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 33, "step": 11256, "t": 56.28, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11256, "t": 56.28, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11256, "t": 56.28, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c4_p002_e007/env.mp4 b/episodes/c4_p002_e007/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b82a91b9af29ebbf97c302f2ccae0d523c30ea4c --- /dev/null +++ b/episodes/c4_p002_e007/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70b00bf5c51b85a48cafec1b08ed7aafc0a1d9f24e72676febee4728c6115e8c +size 1346554 diff --git a/episodes/c4_p002_e007/meta.json b/episodes/c4_p002_e007/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..808b21aa5648371cb78571a7393cba4cc8ac904d --- /dev/null +++ b/episodes/c4_p002_e007/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p002/magicsim/7", + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c4_p002_e007/scene_snapshot.json b/episodes/c4_p002_e007/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..50a5fa75703da10b8a4d15dcd2d3918c39719f8e --- /dev/null +++ b/episodes/c4_p002_e007/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 7, + "env_id": 1, + "run_id": "c4_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": [ + 0.5296335220336914, + 0.1062154769897461, + 0.8999999761581421 + ], + "ori": [ + -0.6987637877464294, + 0.0, + 0.0, + 0.715352475643158 + ], + "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": [ + 3.0277473236917096e-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": 0.16677815887302766, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.28341143678650293, + "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": 0.16677815887302766, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.17961692810058594, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + -6.4636965362296905e-06, + 1.9575754350853458e-08, + 5.3059325821891434e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.924048946364223e-10, + -1.4768355427463575e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 7.574320903813714e-08, + 5.190582541558797e-08, + 1.0955729656814128e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3814430236816406, + 0.9095582962036133, + 0.8999999761581421 + ], + "ori": [ + -0.5849524736404419, + 3.533654080456472e-08, + 1.6561660487468544e-08, + 0.8110676407814026 + ], + "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": [ + -1.7357626447278562e-10, + 3.097681000596708e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.8882068292546137e-08, + 2.2185517423167767e-08, + -8.390996342200197e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.13321971893310547, + 0.4499969482421875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.5605121639339359e-09, + -1.7941894636663847e-09, + -1.8723403627518564e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5494949767713706e-10, + 3.3142200095426233e-10, + 0.0 + ], + "angular_velocity": [ + -5.9347499359319045e-08, + -2.1052361631745953e-08, + -7.166156557047998e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.2119474411010742, + 0.4499979019165039, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.0254668225684327e-09, + 1.227374202272813e-09, + 4.1651164792710915e-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": [ + 1.7220038728282816e-09, + 1.5541986586598e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -1.1818962519782872e-07, + 1.6465355656691827e-07, + -7.4434565178194134e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.193695068359375, + 1.1583480834960938, + 0.9179999828338623 + ], + "ori": [ + 0.08297224342823029, + 2.0018616098127495e-08, + 5.35815924962435e-09, + 0.9965518712997437 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.1159959118222105e-08, + -2.6533493624469884e-08, + 9.685754776000977e-08 + ], + "angular_velocity": [ + 7.631155654053146e-07, + 1.3767319160251645e-06, + 1.2158834294950793e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.3770389556884766, + 0.9186992645263672, + 0.9180000424385071 + ], + "ori": [ + -0.5394629836082458, + 3.3923228670573735e-08, + 1.668997562376262e-08, + 0.842009425163269 + ], + "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": [ + -2.1569992014747186e-08, + 2.0026885039214903e-08, + -5.599111318588257e-06 + ], + "angular_velocity": [ + -1.7588928358236444e-06, + -2.3690370198892197e-07, + -1.238976352624377e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -0.1340961456298828, + 0.4478588104248047, + 0.9179999828338623 + ], + "ori": [ + 0.9977148771286011, + 1.1663551235940872e-09, + -1.9403008089113882e-09, + 0.06756524741649628 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1552397261027636e-08, + 1.021346207608076e-08, + -5.617737770080566e-06 + ], + "angular_velocity": [ + 1.4558770544681465e-07, + -1.0705817885536817e-06, + 9.217544771900066e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.1998205184936523, + 0.45211219787597656, + 0.9179999828338623 + ], + "ori": [ + 0.999809980392456, + 2.6018633914048905e-09, + -2.5663151603794176e-09, + -0.019494490697979927 + ], + "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": [ + -2.072274618569736e-08, + -1.6632180077635894e-08, + 2.123415470123291e-07 + ], + "angular_velocity": [ + 1.399368329657591e-06, + -2.1152216049813433e-06, + -6.484147974106236e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 6.079999999999893, + "step": 1216, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 3.0277473236917096e-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": 0.16677815887302766, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1157, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.02961692214012146, + 0.7000005841255188, + 0.0 + ], + "carrier_2": [ + -1.531443029642105, + 0.45955830812454224, + 0.0 + ], + "carrier_3": [ + -0.28321972489356995, + -3.039836883544922e-06, + 0.0 + ], + "carrier_4": [ + 1.0619474351406097, + -2.086162567138672e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.8515252849342446, + -3.18992791743522e-05, + 2.8029979716486233 + ], + "ori": [ + -11.309999299096171, + 11.559522062416459, + -6.00139476765419 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6541.34366111776, + "color": [ + 0.9734508309470258, + 0.8873703166000726, + 0.7941007623295385 + ], + "intensity": 8912.644801697168, + "width": 1.85705896222938, + "height": 1.7507750867348855 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.6312951027361375, + 0.855782565142938, + 2.7819152076599183 + ], + "ori": [ + -30.899889420483817, + 16.936013147423303, + 29.524976809799938 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4982.60169523329, + "color": [ + 0.7800759870928312, + 0.9695378889063418, + 0.8637395046449104 + ], + "intensity": 3960.9808616632313, + "radius": 0.08910921437072056 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1216.6487915644495, + "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": [ + [ + 0.9141026735305786, + -1.7193981409072876, + 2.0904994010925293, + -1.9419013261795044, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141006469726562, + -1.7193982601165771, + 2.0904994010925293, + -1.941900372505188, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -2.424550705308385e-38, + 2.199683499959103e-38, + 1.8024520993427826e-38, + 5.931964551961084e-37, + -5.959138531781271e-37, + 2.6884651372076288e-36, + 2.5990400942532688e-08, + -2.599039206074849e-08 + ], + [ + 5.108948244014755e-06, + -1.6472080860766014e-12, + -1.6251078174128741e-12, + 3.4059767131111585e-06, + -3.1888285957105966e-13, + 6.8119588831905276e-06, + -3.9370709383618196e-13, + -9.808764857201918e-14 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + 0.05280325189232826, + -0.0036115359980612993, + -0.0334581583738327, + -0.27930986881256104, + 0.650162398815155, + 0.6471208333969116, + -0.28374192118644714 + ], + [ + 0.053372036665678024, + 0.0036084505263715982, + -0.02907498925924301, + -0.27847447991371155, + 0.6562659740447998, + 0.6443724036216736, + -0.27667880058288574 + ], + [ + 0.047216713428497314, + -0.0015954605769366026, + -0.02845592424273491, + -0.2898739278316498, + 0.6372185945510864, + 0.6583337187767029, + -0.2766266465187073 + ], + [ + 0.051376912742853165, + 0.0008935929508879781, + -0.03197334334254265, + -0.27390730381011963, + 0.6530391573905945, + 0.650969386100769, + -0.27341094613075256 + ] + ], + "camera1": [ + [ + 0.06799137592315674, + 0.5805333852767944, + 1.956607460975647, + 0.044886380434036255, + 0.01054947916418314, + 0.2796475887298584, + 0.9589948654174805 + ], + [ + 0.045494578778743744, + 0.5663745403289795, + 1.9324513673782349, + 0.04075014591217041, + 0.01848364807665348, + 0.28104737401008606, + 0.9586501717567444 + ], + [ + 0.05816757678985596, + 0.5959747433662415, + 1.9697424173355103, + 0.052000969648361206, + 0.025135990232229233, + 0.266117662191391, + 0.96220862865448 + ], + [ + 0.02519400417804718, + 0.5662321448326111, + 1.9400368928909302, + 0.02740968018770218, + 0.018826903775334358, + 0.2785038948059082, + 0.9598592519760132 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p002_e007/wrist.mp4 b/episodes/c4_p002_e007/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7b05a0e642d636feb58bc36199c598022f966992 --- /dev/null +++ b/episodes/c4_p002_e007/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0bbe3ddd015bf33a0152d15cb24233e9342de15138d349d35b230dd72f6407e2 +size 8477921 diff --git a/episodes/c4_p002_e008/data.npz b/episodes/c4_p002_e008/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..47c2a78eae7a3ef5f6e455267a4e73a72d1aa891 --- /dev/null +++ b/episodes/c4_p002_e008/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7302a084cd60645c9fbff9d5df51be68742c8f1f96b073ddaaa8894dda3fd3fd +size 186049 diff --git a/episodes/c4_p002_e008/device_events.jsonl b/episodes/c4_p002_e008/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79fb1f1483aee97124b88891f299626474be8b24 --- /dev/null +++ b/episodes/c4_p002_e008/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 2, "seq": 1, "step": 118, "t": 0.59, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 118, "t": 0.59, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 123, "t": 0.615, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 613, "t": 3.065, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 774, "t": 3.87, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 5298, "t": 26.49, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 5908, "t": 29.54, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 5908, "t": 29.54, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.7200540073565183}, "cause": "task-2-1"} +{"env_id": 2, "seq": 9, "step": 5908, "t": 29.54, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 5908, "t": 29.54, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 5908, "t": 29.54, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 6327, "t": 31.635, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 13, "step": 6327, "t": 31.635, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 6327, "t": 31.635, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 6327, "t": 31.635, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 16, "step": 6327, "t": 31.635, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 6327, "t": 31.635, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 18, "step": 6327, "t": 31.635, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 6327, "t": 31.635, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 6327, "t": 31.635, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.7200540073565183}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7072, "t": 35.36, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 22, "step": 7072, "t": 35.36, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.7250000000016463}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7072, "t": 35.36, "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": 3.7250000000016463}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 24, "step": 7072, "t": 35.36, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 7072, "t": 35.36, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 7072, "t": 35.36, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 7492, "t": 37.46, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 28, "step": 7492, "t": 37.46, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.677496197505235e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 7492, "t": 37.46, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.677496197505235e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 7492, "t": 37.46, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 31, "step": 7492, "t": 37.46, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 7492, "t": 37.46, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 33, "step": 8072, "t": 40.36, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 34, "step": 9852, "t": 49.26, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 9852, "t": 49.26, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 36, "step": 9852, "t": 49.26, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 37, "step": 9852, "t": 49.26, "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/c4_p002_e008/env.mp4 b/episodes/c4_p002_e008/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4424cbb3c92d9caa490946cf087b2a1093bc1500 --- /dev/null +++ b/episodes/c4_p002_e008/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9fa11795dbd493aa3d0fc56b1dfa48836cedcfda588ebd1514bbac1f627c4ca +size 1192454 diff --git a/episodes/c4_p002_e008/meta.json b/episodes/c4_p002_e008/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7475c0b927697c0b18bdb6cc0f6aceef5a852905 --- /dev/null +++ b/episodes/c4_p002_e008/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p002/magicsim/8", + "fps": 25, + "frames": 1214, + "kept_ticks": "even", + "video_frames": { + "wrist": 1214, + "env": 1214 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c4_p002_e008/scene_snapshot.json b/episodes/c4_p002_e008/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..9e3f2ebae38375c6f1dc5b03a046be5ed0629824 --- /dev/null +++ b/episodes/c4_p002_e008/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 8, + "env_id": 2, + "run_id": "c4_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 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_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": [ + 0.4789714813232422, + 0.05381488800048828, + 0.8999999761581421 + ], + "ori": [ + 0.7172253727912903, + 0.0, + 0.0, + -0.696841299533844 + ], + "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": 0.29034773320610924, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.22596537766813957, + "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": 0.29034773320610924, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.05351543426513672, + 1.1499347686767578, + 0.8999999761581421 + ], + "ori": [ + -0.00011322644422762096, + 1.9197665679371312e-08, + 5.1171952009099186e-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": [ + 9.254610233710991e-08, + -3.414486400288297e-07, + 3.3527612686157227e-08 + ], + "angular_velocity": [ + 6.371876679622801e-06, + 1.1881237469424377e-06, + 3.019708174178959e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3548316955566406, + 0.6321296691894531, + 0.8999999761581421 + ], + "ori": [ + -0.8561573028564453, + -8.547398522296135e-08, + -6.243891448320937e-08, + 0.516715407371521 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.0568392617169593e-07, + -1.1717629604390822e-06, + -2.514570951461792e-06 + ], + "angular_velocity": [ + 9.852723451331258e-05, + 2.667763146746438e-05, + 3.0207360168788e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6696863174438477, + 0.9372348785400391, + 0.8999999761581421 + ], + "ori": [ + 0.5583604574203491, + -1.7455190626236572e-09, + -3.034512374711085e-08, + 0.8295984268188477 + ], + "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": [ + -5.002690173228075e-08, + -1.0441599584964933e-08, + 1.2665987014770508e-07 + ], + "angular_velocity": [ + 6.717409064549429e-07, + -3.8064392811065773e-06, + -7.557332537544426e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.07595157623291016, + 0.44745349884033203, + 0.8999999761581421 + ], + "ori": [ + 0.9999542236328125, + 8.56736193100005e-09, + 1.292061142521561e-07, + 0.009568211622536182 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0312995755157317e-06, + 8.244879268204386e-08, + -3.4794211387634277e-06 + ], + "angular_velocity": [ + 1.2688464266830124e-05, + 8.653385157231241e-05, + -6.3606557887396775e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.04669380187988281, + 1.1467533111572266, + 0.9180000424385071 + ], + "ori": [ + -0.0728803500533104, + -1.315030999649025e-07, + 6.842334983048204e-07, + 0.997340738773346 + ], + "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": [ + 4.658809302782174e-06, + -1.5974001144059002e-07, + -2.898275852203369e-06 + ], + "angular_velocity": [ + 0.00010732366354204714, + 6.248867066460662e-06, + 4.95056519866921e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.361882209777832, + 0.6330366134643555, + 0.9179999828338623 + ], + "ori": [ + -0.813222348690033, + -7.619765085564723e-08, + -6.579784894711338e-08, + 0.581953227519989 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.389920486071787e-07, + -2.3649895410926547e-06, + -7.536262273788452e-06 + ], + "angular_velocity": [ + 9.927317296387628e-05, + 2.6275902200723067e-05, + 4.133216862101108e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.66619873046875, + 0.9401798248291016, + 0.9180000424385071 + ], + "ori": [ + 0.5069690346717834, + 6.670327934443776e-08, + 1.9877275292401464e-07, + 0.8619643449783325 + ], + "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": [ + -2.7800656425824855e-06, + -5.66784319744329e-06, + -6.139278411865234e-06 + ], + "angular_velocity": [ + 9.70811743172817e-06, + -3.105373980361037e-05, + 5.7988007029052824e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -0.06951236724853516, + 0.44107627868652344, + 0.9179999828338623 + ], + "ori": [ + 0.993934154510498, + 3.71434737189702e-07, + 4.1629243696661433e-07, + 0.10997691750526428 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2024411262245849e-06, + -1.0171794428970315e-06, + -1.1514872312545776e-05 + ], + "angular_velocity": [ + -6.687190034426749e-05, + 0.00011430826270952821, + 1.1366282706148922e-06 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 0.8400000000000006, + "step": 168, + "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": 0.29034773320610924, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 49, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.09648457169532776, + 0.6999347805976868, + 0.0 + ], + "carrier_2": [ + -1.504831701517105, + 0.18212968111038208, + 0.0 + ], + "carrier_3": [ + 1.5196863114833832, + 0.487234890460968, + 0.0 + ], + "carrier_4": [ + -0.22595158219337463, + -0.0025464892387390137, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.05400338949177674, + 0.09237480165302747, + 2.867901535176673 + ], + "ori": [ + -6.084374770703359, + 2.5445334407334386, + -11.217744173051557 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4166.810612900868, + "color": [ + 0.8529994781560968, + 0.964748772181082, + 0.9286504885797384 + ], + "intensity": 8383.765621897805, + "width": 2.3813961576620435, + "height": 1.8611430104093434 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.0649198876892676, + 0.9352166550943488, + 1.9992233923784082 + ], + "ori": [ + -16.136626178673083, + -3.959266017852457, + 7.358926004092048 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5948.079351159917, + "color": [ + 0.9580433274453728, + 0.9282530688330408, + 0.9338232836164939 + ], + "intensity": 10867.81892002638, + "radius": 0.33825987045035777 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1451.3443345874616, + "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 + ], + [ + 1.25437593460083, + -1.539062738418579, + 2.1684179306030273, + -2.196061611175537, + -1.5717443227767944, + 2.8328816890716553, + 0.017999958246946335, + 0.0180000402033329 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9757357835769653, + -1.3964314460754395, + 2.1003432273864746, + -2.274662494659424, + -1.5707963705062866, + 2.353259801864624, + 0.01800004206597805, + 0.017999956384301186 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.00012378001702018082, + -0.014506875537335873, + -0.011840974912047386, + 0.025112103670835495, + 8.731673005968332e-06, + 7.213801836769562e-06, + 6.141341600596206e-06, + -6.165113973111147e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -0.00010634958744049072, + 0.014218136668205261, + 0.009026245214045048, + -0.02200799621641636, + -9.934346962836571e-06, + -4.1256018448621035e-05, + -5.861864337930456e-06, + 5.863039859832497e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05299927666783333, + -0.0030414315406233072, + -0.03211969509720802, + -0.28113532066345215, + 0.6486117243766785, + 0.6500241756439209, + -0.2788087725639343 + ], + [ + 0.050053950399160385, + 0.004600767511874437, + -0.027343347668647766, + -0.27902504801750183, + 0.6575710773468018, + 0.6406171321868896, + -0.2817001938819885 + ], + [ + 0.0486464649438858, + -0.0046741412952542305, + -0.02716047875583172, + -0.283625990152359, + 0.6408904194831848, + 0.6610515713691711, + -0.2680048942565918 + ], + [ + 0.05035465210676193, + 0.0015293735777959228, + -0.030226020142436028, + -0.2746163010597229, + 0.6507061719894409, + 0.6554417014122009, + -0.267513632774353 + ] + ], + "camera1": [ + [ + 0.06799137592315674, + 0.5805333852767944, + 1.956607460975647, + 0.044886380434036255, + 0.01054947916418314, + 0.2796475887298584, + 0.9589948654174805 + ], + [ + 0.045494578778743744, + 0.5663745403289795, + 1.9324513673782349, + 0.04075014591217041, + 0.01848364807665348, + 0.28104737401008606, + 0.9586501717567444 + ], + [ + 0.05816757678985596, + 0.5959747433662415, + 1.9697424173355103, + 0.052000969648361206, + 0.025135990232229233, + 0.266117662191391, + 0.96220862865448 + ], + [ + 0.02519400417804718, + 0.5662321448326111, + 1.9400368928909302, + 0.02740968018770218, + 0.018826903775334358, + 0.2785038948059082, + 0.9598592519760132 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p002_e008/wrist.mp4 b/episodes/c4_p002_e008/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4edf61659e297f0103930a2afde7ae67bcbcc0a9 --- /dev/null +++ b/episodes/c4_p002_e008/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd2a68dd1ec892f0d4855ac5d0f4df262962ce7a3c9ac42023ba01153e728ddf +size 6817972 diff --git a/episodes/c4_p002_e009/data.npz b/episodes/c4_p002_e009/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..005eddbf1d8e7c54ac42aafe1f7686b62413070e --- /dev/null +++ b/episodes/c4_p002_e009/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4eacf0ea5b3a26530bddc1a96971b52ce8539f0ee2defe4e110039ba20bb17d5 +size 201462 diff --git a/episodes/c4_p002_e009/device_events.jsonl b/episodes/c4_p002_e009/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0c21a26aad57843fb0cfcae55c7ca24e5dd3a4cc --- /dev/null +++ b/episodes/c4_p002_e009/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 3, "seq": 1, "step": 123, "t": 0.615, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 123, "t": 0.615, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 128, "t": 0.64, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 772, "t": 3.86, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 784, "t": 3.92, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 5911, "t": 29.555, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 6524, "t": 32.62, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 6524, "t": 32.62, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.7332374184020276}, "cause": "task-3-1"} +{"env_id": 3, "seq": 9, "step": 6524, "t": 32.62, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 6524, "t": 32.62, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 6524, "t": 32.62, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 6943, "t": 34.715, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 13, "step": 6943, "t": 34.715, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 6943, "t": 34.715, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 6943, "t": 34.715, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 16, "step": 6943, "t": 34.715, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 6943, "t": 34.715, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 18, "step": 6943, "t": 34.715, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 6943, "t": 34.715, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 6943, "t": 34.715, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.7332374184020276}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7490, "t": 37.45, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 22, "step": 7490, "t": 37.45, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.735000000001399}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 7490, "t": 37.45, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.735000000001399}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 24, "step": 7490, "t": 37.45, "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": 25, "step": 7490, "t": 37.45, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 7490, "t": 37.45, "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": 27, "step": 7910, "t": 39.55, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 28, "step": 7910, "t": 39.55, "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": 29, "step": 7910, "t": 39.55, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 7910, "t": 39.55, "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": 31, "step": 7910, "t": 39.55, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 32, "step": 7910, "t": 39.55, "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": 33, "step": 8490, "t": 42.45, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 34, "step": 10736, "t": 53.68, "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": 35, "step": 10736, "t": 53.68, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 36, "step": 10736, "t": 53.68, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 37, "step": 10736, "t": 53.68, "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/c4_p002_e009/env.mp4 b/episodes/c4_p002_e009/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3ac44d497e10695858ed6416ba39d376a1bc731c --- /dev/null +++ b/episodes/c4_p002_e009/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7592373d4f2121f9feff65cf1359cf4928c4be12a0fe215afc22f701d8109b12 +size 1511449 diff --git a/episodes/c4_p002_e009/meta.json b/episodes/c4_p002_e009/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bb82491be67c0e37f5a01511f71ee3405cbf3555 --- /dev/null +++ b/episodes/c4_p002_e009/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p002/magicsim/9", + "fps": 25, + "frames": 1302, + "kept_ticks": "even", + "video_frames": { + "wrist": 1302, + "env": 1302 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c4_p002_e009/scene_snapshot.json b/episodes/c4_p002_e009/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..eefeb095ac7b45dd48d77bd45ca941b03efad2b9 --- /dev/null +++ b/episodes/c4_p002_e009/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 9, + "env_id": 3, + "run_id": "c4_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49127864837646484, + 0.06891345977783203, + 0.8999999761581421 + ], + "ori": [ + -0.6909530162811279, + 0.0, + 0.0, + 0.7228996753692627 + ], + "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": 0.2376727544428466, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1454877461921094, + "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": 0.2376727544428466, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.607168197631836, + 1.0343875885009766, + 0.8999999761581421 + ], + "ori": [ + 0.4140758514404297, + 2.1360465396469408e-08, + -1.3252242858641239e-08, + 0.9102424383163452 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.6151036064115942e-10, + 1.7971826804519253e-10, + 0.0 + ], + "angular_velocity": [ + -9.368772424522831e-09, + 1.1045948156152008e-08, + 8.976175358554883e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.0048732757568359375, + 0.45001792907714844, + 0.8999999761581421 + ], + "ori": [ + 0.9999999403953552, + 2.1195909472027097e-09, + -6.21173251724727e-11, + 0.0004865829832851887 + ], + "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": [ + 2.3896489231844953e-09, + 1.392931325838731e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -6.265563712304356e-08, + 2.2183363057592942e-07, + -2.0057321137301187e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3968572616577148, + 0.7813138961791992, + 0.8999999761581421 + ], + "ori": [ + -0.7186232209205627, + 1.0643562475820545e-08, + 6.753107584245299e-08, + 0.6953996419906616 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.705840967427321e-08, + 3.327791375795641e-10, + -5.587935447692871e-08 + ], + "angular_velocity": [ + 7.423411148010928e-07, + 2.820104327838635e-08, + 7.058513915580988e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.49411869049072266, + 1.1524839401245117, + 0.8999999761581421 + ], + "ori": [ + -0.010347054339945316, + 1.6589129359090293e-07, + 1.853959048503384e-07, + 0.9999465346336365 + ], + "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": [ + -1.900672508270418e-08, + -2.2818259282075815e-08, + -7.450580596923828e-08 + ], + "angular_velocity": [ + 5.777386604677304e-07, + -1.5955349681462394e-06, + 2.1580633813300665e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.6187992095947266, + 1.0295372009277344, + 0.9179999828338623 + ], + "ori": [ + 0.42997151613235474, + 2.0392970867533222e-08, + -1.4928065894537212e-08, + 0.9028425216674805 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1864706550568371e-08, + -2.6520602602886356e-08, + 7.078051567077637e-08 + ], + "angular_velocity": [ + 6.244223413887084e-07, + 1.1920149063371355e-06, + 1.0659943683322126e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.016953468322753906, + 0.43898487091064453, + 0.9180000424385071 + ], + "ori": [ + 0.9953040480613708, + 1.5383602169904975e-09, + -2.6177518486214524e-10, + 0.0967988595366478 + ], + "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": [ + -4.567228817364821e-09, + 2.0202200801122672e-08, + -5.234032869338989e-06 + ], + "angular_velocity": [ + 4.337275782972938e-08, + -1.7319499647783232e-06, + -4.530528485702234e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.4044628143310547, + 0.7682170867919922, + 0.9180000424385071 + ], + "ori": [ + -0.6940865516662598, + -9.624558572340902e-08, + 1.2294870543883007e-07, + 0.7198916077613831 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.572592165961396e-06, + -3.9382086924888426e-07, + -6.154179573059082e-06 + ], + "angular_velocity": [ + 1.703467933111824e-05, + -1.8924527466879226e-05, + 2.4882960133254528e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.5064773559570312, + 1.154475212097168, + 0.9179999828338623 + ], + "ori": [ + 0.047811031341552734, + 1.542993430803108e-07, + 1.9902947201444476e-07, + 0.9988564848899841 + ], + "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": [ + -1.2440880325925718e-08, + 1.0935712779769347e-08, + -1.8477439880371094e-06 + ], + "angular_velocity": [ + -1.551855461912055e-07, + 1.7876033098218613e-08, + 1.7477367464380222e-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": 1.7999999999999836, + "step": 360, + "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": 0.2376727544428466, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 236, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.4571681916713715, + 0.5843876004219055, + 0.0 + ], + "carrier_2": [ + -0.14512673020362854, + 1.7940998077392578e-05, + 0.0 + ], + "carrier_3": [ + -1.5468572676181793, + 0.3313139081001282, + 0.0 + ], + "carrier_4": [ + 0.3441186845302582, + 0.7024839520454407, + 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": [ + 0.8910212431223844, + -0.27178295563050975, + 2.663261940443407 + ], + "ori": [ + -0.09215305388272732, + 5.159303939459743, + -13.297425910318001 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3247.0336852918235, + "color": [ + 0.9039150941382874, + 0.8559941729546949, + 0.78163204014068 + ], + "intensity": 13633.711213497156, + "width": 1.4610307970354683, + "height": 1.5745989566146668 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.5040894999451209, + -0.5034716998889777, + 1.795165808280205 + ], + "ori": [ + 16.474134017544834, + 17.21979704101134, + -28.709276257412366 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3169.0706404712087, + "color": [ + 0.8134210909222468, + 0.8076465806459074, + 0.9868813053401 + ], + "intensity": 2540.2914672082416, + "radius": 0.2195864270482366 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1216.6487915644495, + "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": [ + [ + 1.129177212715149, + -1.4077919721603394, + 2.2338812351226807, + -2.397585868835449, + -1.57069730758667, + 2.6820759773254395, + 0.017999965697526932, + 0.018000034615397453 + ], + [ + 1.254372239112854, + -1.313476800918579, + 2.2826383113861084, + -2.535828113555908, + -1.5717440843582153, + 2.832883358001709, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 1.1925967931747437, + -1.5751011371612549, + 2.117358922958374, + -2.1124675273895264, + -1.570441722869873, + 2.7329540252685547, + 0.017999965697526932, + 0.018000032752752304 + ], + [ + 0.9141018986701965, + -1.719398021697998, + 2.09049916267395, + -1.9419001340866089, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 0.0001519836368970573, + -0.0188104510307312, + -0.008512821979820728, + 0.02605799399316311, + 8.802934644336347e-06, + -6.274165571085177e-06, + 7.966313205542974e-06, + -7.990227459231392e-06 + ], + [ + 1.0217897397524212e-05, + 6.811877483414719e-06, + -1.4654655960955054e-11, + -6.811958428443177e-06, + -6.811956154706422e-06, + -1.362390958092874e-05, + 1.8192220352375443e-07, + 1.8194565143403452e-07 + ], + [ + 0.00012099763989681378, + -0.012400769628584385, + -0.01316326204687357, + 0.02431609109044075, + 1.5720285091447295e-06, + 2.081369166262448e-05, + 5.635062734654639e-06, + -5.633002729155123e-06 + ], + [ + -2.887758320481739e-38, + 1.6217030945846102e-38, + 2.6142711030948575e-38, + 5.260335426267702e-37, + -2.0629669363260236e-37, + 2.9093763200466938e-37, + 2.5990388508034812e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05310831591486931, + -0.004754656460136175, + -0.034340035170316696, + -0.28256696462631226, + 0.6501762866973877, + 0.6450801491737366, + -0.2851285934448242 + ], + [ + 0.05186184495687485, + 0.002794862724840641, + -0.029131298884749413, + -0.2768750786781311, + 0.6585293412208557, + 0.6418033838272095, + -0.27886873483657837 + ], + [ + 0.04738454148173332, + -0.0022476310841739178, + -0.02875015325844288, + -0.2869066596031189, + 0.6422867178916931, + 0.6554873585700989, + -0.27475202083587646 + ], + [ + 0.051066312938928604, + 0.0027327348943799734, + -0.029805520549416542, + -0.27479714155197144, + 0.6562149524688721, + 0.6487183570861816, + -0.27024605870246887 + ] + ], + "camera1": [ + [ + 0.06799137592315674, + 0.5805333852767944, + 1.956607460975647, + 0.044886380434036255, + 0.01054947916418314, + 0.2796475887298584, + 0.9589948654174805 + ], + [ + 0.045494578778743744, + 0.5663745403289795, + 1.9324513673782349, + 0.04075014591217041, + 0.01848364807665348, + 0.28104737401008606, + 0.9586501717567444 + ], + [ + 0.05816757678985596, + 0.5959747433662415, + 1.9697424173355103, + 0.052000969648361206, + 0.025135990232229233, + 0.266117662191391, + 0.96220862865448 + ], + [ + 0.02519400417804718, + 0.5662321448326111, + 1.9400368928909302, + 0.02740968018770218, + 0.018826903775334358, + 0.2785038948059082, + 0.9598592519760132 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p002_e009/wrist.mp4 b/episodes/c4_p002_e009/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..21dba72b5c659f7b2b6897ba28bf02347a858498 --- /dev/null +++ b/episodes/c4_p002_e009/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f8eeb0ed5514702ab65cd6ffe1797f2df9786b5f5b298ff9049087a13261136 +size 7206855 diff --git a/episodes/c4_p002_e010/data.npz b/episodes/c4_p002_e010/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..28379172b6d8526680b7adb1c7f573733dcdcd31 --- /dev/null +++ b/episodes/c4_p002_e010/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b6ee13ff32ca2153f98c566f483650c2c31238fb43098b22fb1385c64f05bef +size 207256 diff --git a/episodes/c4_p002_e010/device_events.jsonl b/episodes/c4_p002_e010/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..251b53ca6298b7cf500e239a90e7f94e71c462cf --- /dev/null +++ b/episodes/c4_p002_e010/device_events.jsonl @@ -0,0 +1,38 @@ +{"env_id": 1, "seq": 1, "step": 33, "t": 0.165, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 33, "t": 0.165, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 38, "t": 0.19, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1425, "t": 7.125, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 1594, "t": 7.97, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 1600, "t": 8.0, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 7, "step": 6383, "t": 31.915, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 8, "step": 6996, "t": 34.98, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 9, "step": 6996, "t": 34.98, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.581739583806479}, "cause": "task-1-1"} +{"env_id": 1, "seq": 10, "step": 6996, "t": 34.98, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 11, "step": 6996, "t": 34.98, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 12, "step": 6996, "t": 34.98, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 7415, "t": 37.075, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 14, "step": 7415, "t": 37.075, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 15, "step": 7415, "t": 37.075, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 16, "step": 7415, "t": 37.075, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 17, "step": 7415, "t": 37.075, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 18, "step": 7415, "t": 37.075, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 19, "step": 7415, "t": 37.075, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 7415, "t": 37.075, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 21, "step": 7415, "t": 37.075, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.581739583806479}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8132, "t": 40.66, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 23, "step": 8132, "t": 40.66, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.585000000001834}, "cause": "program-1-3"} +{"env_id": 1, "seq": 24, "step": 8132, "t": 40.66, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.585000000001834}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 25, "step": 8132, "t": 40.66, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 26, "step": 8132, "t": 40.66, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 27, "step": 8132, "t": 40.66, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8552, "t": 42.76, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 29, "step": 8552, "t": 42.76, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 30, "step": 8552, "t": 42.76, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 31, "step": 8552, "t": 42.76, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 32, "step": 8552, "t": 42.76, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 33, "step": 8552, "t": 42.76, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 34, "step": 9130, "t": 45.65, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11412, "t": 57.06, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 36, "step": 11412, "t": 57.06, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 37, "step": 11412, "t": 57.06, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 38, "step": 11412, "t": 57.06, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c4_p002_e010/env.mp4 b/episodes/c4_p002_e010/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cc68d273196d1318ff6a6a4921bc5871c9430b3b --- /dev/null +++ b/episodes/c4_p002_e010/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b6f5b0a219fc6cb9f995e0de208385ef88bde4e918ee040c749db535d178120 +size 1382279 diff --git a/episodes/c4_p002_e010/meta.json b/episodes/c4_p002_e010/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..01f829153221d473b9480755986a0d6a060a1ecd --- /dev/null +++ b/episodes/c4_p002_e010/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p002/magicsim/10", + "fps": 25, + "frames": 1307, + "kept_ticks": "even", + "video_frames": { + "wrist": 1307, + "env": 1307 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c4_p002_e010/scene_snapshot.json b/episodes/c4_p002_e010/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..d1a0fa5007f1cc17c0943fa8a8c4cace509e2182 --- /dev/null +++ b/episodes/c4_p002_e010/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 10, + "env_id": 1, + "run_id": "c4_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 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_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 0.5296335220336914, + 0.1062154769897461, + 0.8999999761581421 + ], + "ori": [ + -0.6987637877464294, + 0.0, + 0.0, + 0.715352475643158 + ], + "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": 0.18825070994516, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.14455347995464965, + "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": 0.18825070994516, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3220701217651367, + 0.5814619064331055, + 0.8999999761581421 + ], + "ori": [ + 0.9012648463249207, + -4.320487789755134e-08, + -1.0051355303630771e-07, + -0.43326887488365173 + ], + "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": [ + -1.2181904374131136e-09, + -2.381691288633192e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.2989096376259113e-07, + -1.9426872199801437e-07, + 1.1742754324473026e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.006122589111328125, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.123256598845046e-09, + 5.351308285383993e-10, + 1.6642901755403727e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5590497781658996e-09, + 1.1215648410001222e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -4.0791803712636465e-08, + 1.3484726935075741e-07, + -1.805248395214676e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.508793830871582, + 1.1108207702636719, + 0.8999999761581421 + ], + "ori": [ + 0.23540593683719635, + -3.3307557600892324e-08, + -1.3106445706512204e-08, + 0.9718971848487854 + ], + "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": [ + -9.013982893435468e-10, + -3.8219483133872245e-11, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 2.2333015436970527e-08, + -7.264419821240153e-08, + 2.369758167475311e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.01972198486328125, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + -4.394359712023288e-05, + -2.747510274847542e-10, + 3.848144469742465e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.741007586517298e-10, + 2.3093865708645467e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 7.211977504084643e-08, + -9.316284632632232e-09, + -1.8039902016653286e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.3254404067993164, + 0.5897970199584961, + 0.9179999828338623 + ], + "ori": [ + 0.9407331943511963, + -5.496746879884995e-08, + -9.618751306561535e-08, + -0.33914756774902344 + ], + "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": [ + -4.24465298465293e-08, + -5.417128079443501e-09, + 8.195638656616211e-08 + ], + "angular_velocity": [ + 5.046285878052004e-07, + -2.930529944933369e-06, + 7.727673789759137e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.0037641525268554688, + 0.43820953369140625, + 0.9180000424385071 + ], + "ori": [ + 0.9972589015960693, + 1.638143065640918e-09, + -8.414380858745574e-10, + 0.07399169355630875 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.8543385433010826e-09, + 1.8058305073509473e-08, + -5.1818788051605225e-06 + ], + "angular_velocity": [ + 2.3035499907564372e-07, + -1.4547251794283511e-06, + -4.615872128965748e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.507955551147461, + 1.1055402755737305, + 0.9179999828338623 + ], + "ori": [ + 0.30117180943489075, + -3.337219212085074e-08, + -1.9058658651260885e-08, + 0.9535698890686035 + ], + "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": [ + 8.31771185261232e-09, + 3.5249425600625273e-09, + -5.867332220077515e-06 + ], + "angular_velocity": [ + -2.0040404251631116e-06, + 2.667856051630224e-06, + 3.697519801448834e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.009942054748535156, + 1.1405115127563477, + 0.9179999828338623 + ], + "ori": [ + -0.09286072850227356, + 3.726207675747162e-10, + 8.228300707457947e-09, + 0.9956791996955872 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.453247974353872e-08, + 7.473602181562455e-08, + 1.7508864402770996e-07 + ], + "angular_velocity": [ + -2.7126147870148998e-06, + 2.9949596864753403e-06, + 1.2418045969297964e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 5.019999999999915, + "step": 1004, + "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": 0.18825070994516, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 970, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.4720701277256012, + 0.13146191835403442, + 0.0 + ], + "carrier_2": [ + -0.14387741684913635, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_3": [ + 1.3587938249111176, + 0.6608207821846008, + 0.0 + ], + "carrier_4": [ + -0.13027802109718323, + 0.6999967694282532, + 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": [ + 0.5241599578848214, + -0.25141300582509707, + 2.654285239094115 + ], + "ori": [ + -2.084657966252756, + -0.8463139259185031, + -18.022276579189185 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4895.843178700383, + "color": [ + 0.8241389409466737, + 0.8386861337762586, + 0.9662861554802987 + ], + "intensity": 15475.009838115406, + "width": 1.850482821310149, + "height": 1.5243727836909446 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.2825679917491959, + 1.1952654025360807, + 1.7930440324930936 + ], + "ori": [ + -3.0585039697737386, + 13.608182476441229, + -5.063605087045524 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6994.240595414209, + "color": [ + 0.850023518550555, + 0.8409795883020443, + 0.9748526744529532 + ], + "intensity": 8323.11881098626, + "radius": 0.1358546747731563 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1451.3443345874616, + "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": [ + [ + 0.9141024351119995, + -1.7193979024887085, + 2.090498924255371, + -1.9418998956680298, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141035079956055, + -1.7193970680236816, + 2.0904977321624756, + -1.9419000148773193, + -1.5707999467849731, + 2.4849014282226562, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.1458038091659546, + -1.4936107397079468, + 2.088292121887207, + -2.164914131164551, + -1.5711750984191895, + 2.4954099655151367, + 0.006418311968445778, + 0.008678682148456573 + ], + [ + 1.366814136505127, + -1.7644524574279785, + 2.1735270023345947, + -1.9800381660461426, + -1.5706158876419067, + 2.7995195388793945, + 0.008497346192598343, + 0.006547707132995129 + ] + ], + "joint_vel": [ + [ + 2.1920534298208543e-38, + -2.1230722708369222e-38, + -1.6465685753146684e-38, + -6.2375171215877245e-37, + 4.89703321695257e-37, + 2.647388662325509e-37, + 0.0, + 1.0121281732543717e-37 + ], + [ + 2.3327510823910804e-38, + -1.7667655116115153e-38, + 0.0, + -6.254386064605144e-37, + 3.4043974460997986e-37, + -2.2876663333816057e-36, + 2.5990372520823257e-08, + -2.5990402718889527e-08 + ], + [ + 0.0010385160567238927, + 0.0008094258373603225, + 0.0002750878338702023, + -0.004112558905035257, + 0.006357054226100445, + 0.02162335067987442, + -0.006545331794768572, + 0.0005386315751820803 + ], + [ + 0.062295105308294296, + -0.052364397794008255, + 0.0197939220815897, + 0.027084797620773315, + 0.0007428801618516445, + 0.0751267522573471, + -0.005971814040094614, + 0.00045196758583188057 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.051206089556217194, + -0.0022089225240051746, + -0.0315437950193882, + -0.2870994806289673, + 0.6482649445533752, + 0.6449877023696899, + -0.2851618826389313 + ], + [ + 0.05324520543217659, + 0.0019202502444386482, + -0.028492586687207222, + -0.2823043465614319, + 0.658456563949585, + 0.6397303938865662, + -0.2783600091934204 + ], + [ + 0.04965770244598389, + 0.000545862945728004, + -0.025935932993888855, + -0.2878008186817169, + 0.6400251388549805, + 0.6577973961830139, + -0.2735711336135864 + ], + [ + 0.05039244145154953, + 0.003649169346317649, + -0.028952229768037796, + -0.2775347828865051, + 0.6551154851913452, + 0.6492221355438232, + -0.26890283823013306 + ] + ], + "camera1": [ + [ + 0.06799137592315674, + 0.5805333852767944, + 1.956607460975647, + 0.044886380434036255, + 0.01054947916418314, + 0.2796475887298584, + 0.9589948654174805 + ], + [ + 0.045494578778743744, + 0.5663745403289795, + 1.9324513673782349, + 0.04075014591217041, + 0.01848364807665348, + 0.28104737401008606, + 0.9586501717567444 + ], + [ + 0.05816757678985596, + 0.5959747433662415, + 1.9697424173355103, + 0.052000969648361206, + 0.025135990232229233, + 0.266117662191391, + 0.96220862865448 + ], + [ + 0.02519400417804718, + 0.5662321448326111, + 1.9400368928909302, + 0.02740968018770218, + 0.018826903775334358, + 0.2785038948059082, + 0.9598592519760132 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p002_e010/wrist.mp4 b/episodes/c4_p002_e010/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c369738ad701c97265bbb37b7b6d590dae196885 --- /dev/null +++ b/episodes/c4_p002_e010/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:735eee5df1a249d39a6fe1e95f22e9c6a25865a19d6b8bc2cbbb3be57bacfecc +size 7315788 diff --git a/episodes/c4_p002_e011/data.npz b/episodes/c4_p002_e011/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..47a7bec53733c7e5c89afd2fb33f80fa55899ba7 --- /dev/null +++ b/episodes/c4_p002_e011/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd405b753007630ff99df170cd4bb922e8c4ba62f07af776f1a4d476f1aebe41 +size 203741 diff --git a/episodes/c4_p002_e011/device_events.jsonl b/episodes/c4_p002_e011/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..65e5406befd054b91e946fea7bc7aade1dfffefc --- /dev/null +++ b/episodes/c4_p002_e011/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 241, "t": 1.205, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 241, "t": 1.205, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 246, "t": 1.23, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 2240, "t": 11.2, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 7002, "t": 35.01, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 7620, "t": 38.1, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7620, "t": 38.1, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.0512091860444746}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 7620, "t": 38.1, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 9, "step": 7620, "t": 38.1, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 10, "step": 7620, "t": 38.1, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 11, "step": 8039, "t": 40.195, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 12, "step": 8039, "t": 40.195, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 8039, "t": 40.195, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 8039, "t": 40.195, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 8039, "t": 40.195, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 8039, "t": 40.195, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 8039, "t": 40.195, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 18, "step": 8039, "t": 40.195, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 19, "step": 8039, "t": 40.195, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.0512091860444746}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 8650, "t": 43.25, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 21, "step": 8650, "t": 43.25, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.055000000001563}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8650, "t": 43.25, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.055000000001563}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 8650, "t": 43.25, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 24, "step": 8650, "t": 43.25, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 25, "step": 8650, "t": 43.25, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 26, "step": 9070, "t": 45.35, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 27, "step": 9070, "t": 45.35, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.387493174855649e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 9070, "t": 45.35, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.387493174855649e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 9070, "t": 45.35, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 9070, "t": 45.35, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 9070, "t": 45.35, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 9647, "t": 48.235, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 33, "step": 11920, "t": 59.6, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11920, "t": 59.6, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 11920, "t": 59.6, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 11920, "t": 59.6, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c4_p002_e011/env.mp4 b/episodes/c4_p002_e011/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..93bd8e0176628e35154a646896b55f116035d218 --- /dev/null +++ b/episodes/c4_p002_e011/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aeb22bff895eacddd8957c6a1f3fb0d7cd02b15ff610678d4e388f15f95bdadb +size 1303313 diff --git a/episodes/c4_p002_e011/meta.json b/episodes/c4_p002_e011/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2a8d5ee99efd1db0beac000a893ef5b9814987e0 --- /dev/null +++ b/episodes/c4_p002_e011/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p002/magicsim/11", + "fps": 25, + "frames": 1270, + "kept_ticks": "even", + "video_frames": { + "wrist": 1270, + "env": 1270 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c4_p002_e011/scene_snapshot.json b/episodes/c4_p002_e011/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..6a25e41b0df274ed4b6ca544a8c5a11128c4d557 --- /dev/null +++ b/episodes/c4_p002_e011/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 11, + "env_id": 0, + "run_id": "c4_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5132904052734375, + 0.09563636779785156, + 0.8999999761581421 + ], + "ori": [ + -0.7040147185325623, + 0.0, + 0.0, + 0.7101854085922241 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 4.373416993136425e-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": 0.15453788072081506, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1708462080631912, + "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": 0.15453788072081506, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.020936965942382812, + 0.44768810272216797, + 0.8999999761581421 + ], + "ori": [ + 0.9999142289161682, + -1.2757803494189979e-11, + 8.766921633096558e-10, + 0.013099630363285542 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.9936846335232303e-09, + -5.609918307669659e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 2.0734066197292123e-07, + -2.1315796061571746e-07, + -6.529921137143901e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1235599517822266, + 1.1389474868774414, + 0.8999999761581421 + ], + "ori": [ + -0.10569524765014648, + 7.133735380193684e-08, + 2.5100170830683055e-08, + 0.9943985939025879 + ], + "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": [ + 6.072093938769285e-09, + -2.7337858199416587e-08, + 0.0 + ], + "angular_velocity": [ + 7.533255939051742e-07, + 9.090585706417187e-08, + -1.9627938740995887e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4375419616699219, + 1.1522541046142578, + 0.8999999761581421 + ], + "ori": [ + -0.013942701742053032, + -1.6569443039848863e-10, + 2.841177015877605e-10, + 0.9999028444290161 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4263812353476624e-11, + 1.9796770889257687e-09, + 0.0 + ], + "angular_velocity": [ + -1.7139274177679908e-07, + -9.511879284218594e-09, + -3.820896488093695e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.525822639465332, + 0.5010271072387695, + 0.8999999761581421 + ], + "ori": [ + 0.9652581214904785, + -5.6657921021496804e-08, + 9.796446676091364e-08, + 0.2612985670566559 + ], + "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": [ + 8.115669061226072e-07, + 5.093758090879419e-07, + -2.6673078536987305e-06 + ], + "angular_velocity": [ + -4.8947280447464436e-05, + 6.547133671119809e-05, + 1.1132678991998546e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -0.022167205810546875, + 0.4574298858642578, + 0.9179999828338623 + ], + "ori": [ + 0.9956589937210083, + 1.4946148763073097e-09, + 6.398619134539985e-11, + 0.0930764302611351 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.123340139969514e-08, + -9.419201063565197e-08, + 1.862645149230957e-07 + ], + "angular_velocity": [ + 3.0861433515383396e-06, + -2.964432951557683e-06, + 6.258110119006233e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -1.1125593185424805, + 1.1458215713500977, + 0.9180000424385071 + ], + "ori": [ + -0.040035657584667206, + 1.3168126145046699e-08, + 2.635377427395724e-07, + 0.999198317527771 + ], + "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": [ + 1.9632457224361133e-06, + 3.5705932077689795e-07, + -7.4356794357299805e-06 + ], + "angular_velocity": [ + 0.00017532527272123843, + 4.6720291720703244e-05, + 1.0612508049234748e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.4239168167114258, + 1.1504936218261719, + 0.9180000424385071 + ], + "ori": [ + -0.06908221542835236, + 1.561138718297883e-10, + 1.2084988565419508e-09, + 0.9976110458374023 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.5548123616658813e-08, + 4.574230416665159e-08, + -5.368143320083618e-06 + ], + "angular_velocity": [ + -1.047932414621755e-06, + 1.5921825706755044e-06, + 2.9895819153580305e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.525747299194336, + 0.48937320709228516, + 0.9179999828338623 + ], + "ori": [ + 0.9685506820678711, + -4.890827298709155e-08, + 7.817637026619195e-08, + 0.24881628155708313 + ], + "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": [ + 2.3063089429342654e-06, + 1.6402403844040236e-06, + -3.885477781295776e-06 + ], + "angular_velocity": [ + -4.785847704624757e-05, + 6.286634015850723e-05, + 1.161810814664932e-06 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 9.100000000000023, + "step": 1820, + "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": 4.373416993136425e-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": 0.15453788072081506, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1578, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.1709369719028473, + -0.002311885356903076, + 0.0 + ], + "carrier_2": [ + -1.273559957742691, + 0.6889474987983704, + 0.0 + ], + "carrier_3": [ + 0.2875419557094574, + 0.7022541165351868, + 0.0 + ], + "carrier_4": [ + 1.3758226335048676, + 0.051027119159698486, + 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": [ + 0.49331197867859256, + 0.12431743271299334, + 3.0328953355068866 + ], + "ori": [ + -5.545605328016855, + 14.953317004826943, + -17.73454921482559 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5358.2745781730055, + "color": [ + 0.9374043698356819, + 0.9424570794920275, + 0.9914027186656527 + ], + "intensity": 13781.217697216358, + "width": 1.9110226762621223, + "height": 1.7473441512730912 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.3051496575044261, + -0.29774066182017966, + 1.7538373532646896 + ], + "ori": [ + -5.271541205244425, + 34.745991180086776, + 29.75327955454651 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7077.653468388367, + "color": [ + 0.8261952310494316, + 0.9520380417993511, + 0.90217679549656 + ], + "intensity": 1717.7539854654024, + "radius": 0.1082730627055521 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1451.3443345874616, + "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": [ + [ + 0.914110541343689, + -1.7193955183029175, + 2.0904972553253174, + -1.9418996572494507, + -1.5707999467849731, + 2.484905481338501, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 0.989076554775238, + -1.2973963022232056, + 2.186023235321045, + -2.459446668624878, + -1.5708386898040771, + 2.4116458892822266, + 0.007674735970795155, + 0.006977486424148083 + ], + [ + 2.578052043914795, + -2.174410343170166, + 2.21480655670166, + -1.6103670597076416, + -1.570460319519043, + 4.150094985961914, + 0.007830748334527016, + 0.007131168153136969 + ], + [ + 2.7662851810455322, + -1.7283391952514648, + 2.132171154022217, + -1.9745795726776123, + -1.5704926252365112, + 4.33534574508667, + 0.007813014090061188, + 0.007110640872269869 + ] + ], + "joint_vel": [ + [ + 5.1089459702780005e-06, + 6.811892490077298e-06, + -6.811955699959071e-06, + -2.0324627397760864e-13, + 1.3150401991304794e-13, + 1.7069167260186369e-12, + 5.198019081831262e-08, + -5.198049990440268e-08 + ], + [ + 0.0002781167277134955, + -0.019845960661768913, + -0.006524788681417704, + 0.024314040318131447, + 0.0006752060726284981, + 0.0020067656878381968, + -0.008863650262355804, + 0.0002699895412661135 + ], + [ + 0.018116021528840065, + 0.02843107469379902, + -0.011594496667385101, + -0.017594696953892708, + -0.00018136353173758835, + 0.018734285607933998, + -0.008341148495674133, + 0.00041918607894331217 + ], + [ + 0.0075051928870379925, + 0.023143747821450233, + -0.01898370124399662, + -0.0043864622712135315, + -0.0001563408732181415, + 0.008180084638297558, + -0.008448667824268341, + 0.00040031084790825844 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.051737356930971146, + -0.0010886464733630419, + -0.03382803872227669, + -0.2816832661628723, + 0.655513346195221, + 0.6417310833930969, + -0.28131482005119324 + ], + [ + 0.05342606082558632, + 0.0003600204363465309, + -0.030421478673815727, + -0.2752855718135834, + 0.6593226194381714, + 0.6405055522918701, + -0.28153887391090393 + ], + [ + 0.04795943200588226, + -0.00184029305819422, + -0.026634523645043373, + -0.28729012608528137, + 0.6415671706199646, + 0.6582880616188049, + -0.2692819833755493 + ], + [ + 0.05097366124391556, + 0.0015057568671181798, + -0.028389234095811844, + -0.2776651084423065, + 0.6554996371269226, + 0.6498427391052246, + -0.26632076501846313 + ] + ], + "camera1": [ + [ + 0.06799137592315674, + 0.5805333852767944, + 1.956607460975647, + 0.044886380434036255, + 0.01054947916418314, + 0.2796475887298584, + 0.9589948654174805 + ], + [ + 0.045494578778743744, + 0.5663745403289795, + 1.9324513673782349, + 0.04075014591217041, + 0.01848364807665348, + 0.28104737401008606, + 0.9586501717567444 + ], + [ + 0.05816757678985596, + 0.5959747433662415, + 1.9697424173355103, + 0.052000969648361206, + 0.025135990232229233, + 0.266117662191391, + 0.96220862865448 + ], + [ + 0.02519400417804718, + 0.5662321448326111, + 1.9400368928909302, + 0.02740968018770218, + 0.018826903775334358, + 0.2785038948059082, + 0.9598592519760132 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p002_e011/wrist.mp4 b/episodes/c4_p002_e011/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6e8b1924c599a0e03f49fdf6b7c8796db3f1343e --- /dev/null +++ b/episodes/c4_p002_e011/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1497f41d39f7616122759a59381282ebf2a4cfb711567dfdf48e59c49e4e28b1 +size 7839908 diff --git a/episodes/c4_p002_e012/data.npz b/episodes/c4_p002_e012/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..6ac44337821b70ffe6325d1bb0e8adec9fa8ff05 --- /dev/null +++ b/episodes/c4_p002_e012/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3fd3e23fb5a6371fa125077974ac11a02622797082235d758fa0b097f1968627 +size 185162 diff --git a/episodes/c4_p002_e012/device_events.jsonl b/episodes/c4_p002_e012/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77b56f4e61b0d52ae03129252f45b4137fcb59de --- /dev/null +++ b/episodes/c4_p002_e012/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 45, "t": 0.225, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 45, "t": 0.225, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 50, "t": 0.25, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6122, "t": 30.61, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6732, "t": 33.66, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 6, "step": 6732, "t": 33.66, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.6174661798596937}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6732, "t": 33.66, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 8, "step": 6732, "t": 33.66, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 6732, "t": 33.66, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.29999998211860657}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.29999998211860657}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7151, "t": 35.755, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 17, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.6174661798596937}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7475, "t": 37.375, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 7475, "t": 37.375, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.6200000000008288}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7475, "t": 37.375, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.6200000000008288}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7475, "t": 37.375, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 23, "step": 7475, "t": 37.375, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 7475, "t": 37.375, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 7895, "t": 39.475, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 7895, "t": 39.475, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.891908318896185e-08}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 7895, "t": 39.475, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.891908318896185e-08}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 7895, "t": 39.475, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 7895, "t": 39.475, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 7895, "t": 39.475, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8476, "t": 42.38, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 10208, "t": 51.04, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 33, "step": 10208, "t": 51.04, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10208, "t": 51.04, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10208, "t": 51.04, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c4_p002_e012/env.mp4 b/episodes/c4_p002_e012/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..75285853ed5729700d3e23e4584193913e1e6fe5 --- /dev/null +++ b/episodes/c4_p002_e012/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b7c823dd50885315a53001d346ab628b64ebbeb22af0113a05f70fd69213f30 +size 1191234 diff --git a/episodes/c4_p002_e012/meta.json b/episodes/c4_p002_e012/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ea396747230bc27f4c65301a50efe73db64f9dd9 --- /dev/null +++ b/episodes/c4_p002_e012/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p002/magicsim/12", + "fps": 25, + "frames": 1143, + "kept_ticks": "even", + "video_frames": { + "wrist": 1143, + "env": 1143 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c4_p002_e012/scene_snapshot.json b/episodes/c4_p002_e012/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..333a1de6291cedd354c86900ff8b1fdad63685b6 --- /dev/null +++ b/episodes/c4_p002_e012/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 12, + "env_id": 2, + "run_id": "c4_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 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_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": [ + 0.4789714813232422, + 0.05381488800048828, + 0.8999999761581421 + ], + "ori": [ + 0.7172253727912903, + 0.0, + 0.0, + -0.696841299533844 + ], + "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": [ + 3.3641641447416937e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2941823913152411, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1268619483843776, + "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": 0.2941823913152411, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.08936214447021484, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + -1.6650605175527744e-05, + -1.701028540246341e-09, + 5.363088861898291e-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": [ + -9.252922872349245e-10, + 1.7362944415566517e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 8.310765764463213e-08, + -8.226408709788302e-08, + 3.206374543651691e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.37811279296875, + 0.6816501617431641, + 0.8999999761581421 + ], + "ori": [ + -0.8163849711418152, + 3.106869783664479e-08, + 3.3620466410866356e-08, + 0.5775080919265747 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.8760439302620853e-10, + 1.0348730761222669e-09, + 0.0 + ], + "angular_velocity": [ + -9.997491190461005e-08, + 4.029472577826709e-08, + -1.1624449181013574e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.642777442932129, + 0.6103496551513672, + 0.8999999761581421 + ], + "ori": [ + 0.8794669508934021, + -3.96393717849719e-09, + -8.304072096620985e-09, + 0.4759598672389984 + ], + "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": [ + 1.9233009629360254e-10, + -1.439586228002554e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 5.9407803121303004e-09, + 3.127406955627521e-08, + 2.913801644410796e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.023441314697265625, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.0136490535828102e-09, + -1.0025892338560993e-09, + 1.3887615750718396e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5001777597944965e-10, + 5.875848252401283e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -2.547422468524019e-07, + -2.0033064984659177e-08, + 2.474384963591092e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -0.0884256362915039, + 1.1448659896850586, + 0.9179999828338623 + ], + "ori": [ + -0.07971449196338654, + -3.335739018339723e-09, + 1.091500223537878e-09, + 0.9968177676200867 + ], + "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": [ + 1.3520857322646407e-08, + 3.699004835766573e-08, + 1.1175870895385742e-07 + ], + "angular_velocity": [ + -1.6809157159514143e-06, + 1.5368701724582934e-06, + 3.815687765751363e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.391972541809082, + 0.686305046081543, + 0.9180000424385071 + ], + "ori": [ + -0.7678646445274353, + 2.7714312622606485e-08, + 3.43968622473767e-08, + 0.6406122446060181 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.186262003713637e-09, + 3.461726905129581e-08, + -6.124377250671387e-06 + ], + "angular_velocity": [ + -1.1827539765363326e-06, + -7.950894769237493e-07, + 6.859740153686289e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.6539878845214844, + 0.6158933639526367, + 0.9180000424385071 + ], + "ori": [ + 0.9220724701881409, + -3.4272185089889717e-09, + -8.938667583890947e-09, + 0.38701727986335754 + ], + "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": [ + -7.085896314151796e-09, + -8.794762251795873e-09, + -5.710870027542114e-06 + ], + "angular_velocity": [ + 9.276777745981235e-07, + -8.046582706811023e-07, + -1.2703317509021872e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.007872581481933594, + 0.4396038055419922, + 0.9179999828338623 + ], + "ori": [ + 0.9960004687309265, + 7.846435168268329e-10, + -5.353862908563656e-10, + -0.08934910595417023 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.18951541341994e-08, + 5.865923924375238e-08, + -1.0617077350616455e-06 + ], + "angular_velocity": [ + -1.0713260962802451e-06, + -1.2785221770172939e-06, + 9.739978423795037e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 5.479999999999905, + "step": 1096, + "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": 3.3641641447416937e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2941823913152411, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1050, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.23936215043067932, + 0.6999996304512024, + 0.0 + ], + "carrier_2": [ + -1.5281127989292145, + 0.23165017366409302, + 0.0 + ], + "carrier_3": [ + 1.4927774369716644, + 0.16034966707229614, + 0.0 + ], + "carrier_4": [ + -0.12655869126319885, + -1.7881393432617188e-07, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.697536426781716, + 0.17705100833332843, + 2.7393104438027 + ], + "ori": [ + -5.8058164639945335, + -1.0884369733223593, + -27.30370526434991 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4798.8551519674475, + "color": [ + 0.9199193726204473, + 0.9013658478003748, + 0.8484374012500342 + ], + "intensity": 7502.2855757821, + "width": 2.7267923199291664, + "height": 1.1584546771867301 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.9995865874317511, + 1.0823790429708555, + 2.7663462632813416 + ], + "ori": [ + -20.7872689885171, + -35.98372542914878, + 26.690889161881415 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5408.997499624578, + "color": [ + 0.8485413468034385, + 0.8442791141255411, + 0.9900192231710467 + ], + "intensity": 4865.467400467987, + "radius": 0.28404947846526674 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1451.3443345874616, + "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": [ + [ + 1.0329021215438843, + -1.7107666730880737, + 2.2198269367218018, + -2.0792338848114014, + -1.5703376531600952, + 1.573154091835022, + 0.0074309781193733215, + 0.007788262329995632 + ], + [ + 1.5698810815811157, + -1.4832209348678589, + 2.1277084350585938, + -2.213212728500366, + -1.5725181102752686, + 0.007592657580971718, + 0.008341777138411999, + 0.006462404038757086 + ], + [ + 0.9141022562980652, + -1.719398021697998, + 2.090498924255371, + -1.9418997764587402, + -1.5707999467849731, + 2.484900951385498, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141035079956055, + -1.7193965911865234, + 2.090498685836792, + -1.9419004917144775, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 0.025120582431554794, + 0.00765474746003747, + -0.012387295253574848, + -0.005467467475682497, + -0.012249931693077087, + -0.09529025107622147, + -0.0007910262211225927, + -0.0005753102013841271 + ], + [ + 0.007738874759525061, + 0.004722648300230503, + 0.0017145405290648341, + -0.0029586448799818754, + -0.0003468255454208702, + -0.015319647267460823, + -0.006202398333698511, + 0.00027715388569049537 + ], + [ + 2.7811960182427727e-38, + -2.8692034472559213e-38, + -1.1938664947283573e-38, + -3.3917198428411134e-37, + 6.27487551443887e-37, + 5.34089237555379e-37, + -6.190033058137245e-38, + 3.2465148296824787e-38 + ], + [ + 2.287564391720923e-38, + -2.8855347400785485e-38, + -2.744271523448121e-38, + -4.190045631576328e-37, + 6.18322969804101e-37, + 1.086136686660854e-37, + 2.5990386731677972e-08, + -2.599039738981901e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.052641965448856354, + -0.0035340788308531046, + -0.03181365877389908, + -0.28439804911613464, + 0.6509504318237305, + 0.6452597379684448, + -0.2811069190502167 + ], + [ + 0.05411616340279579, + 0.0029895775951445103, + -0.029077155515551567, + -0.2793997824192047, + 0.6568754315376282, + 0.6415731310844421, + -0.28077447414398193 + ], + [ + 0.050258737057447433, + -0.002330990042537451, + -0.02865740656852722, + -0.2897967994213104, + 0.6391206383705139, + 0.6579251885414124, + -0.2732711136341095 + ], + [ + 0.05015424266457558, + 0.0035590461920946836, + -0.028621872887015343, + -0.27028948068618774, + 0.6556121110916138, + 0.6509840488433838, + -0.2708064317703247 + ] + ], + "camera1": [ + [ + 0.06799137592315674, + 0.5805333852767944, + 1.956607460975647, + 0.044886380434036255, + 0.01054947916418314, + 0.2796475887298584, + 0.9589948654174805 + ], + [ + 0.045494578778743744, + 0.5663745403289795, + 1.9324513673782349, + 0.04075014591217041, + 0.01848364807665348, + 0.28104737401008606, + 0.9586501717567444 + ], + [ + 0.05816757678985596, + 0.5959747433662415, + 1.9697424173355103, + 0.052000969648361206, + 0.025135990232229233, + 0.266117662191391, + 0.96220862865448 + ], + [ + 0.02519400417804718, + 0.5662321448326111, + 1.9400368928909302, + 0.02740968018770218, + 0.018826903775334358, + 0.2785038948059082, + 0.9598592519760132 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p002_e012/wrist.mp4 b/episodes/c4_p002_e012/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3ed0bdf457b3bd6e45fa67e38ed8f02ef125b0fe --- /dev/null +++ b/episodes/c4_p002_e012/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8494f1e16217a2c513c7ccbafd0e5720f939f2f945bf503cccda37ac162d63ca +size 5945117 diff --git a/episodes/c4_p002_e013/data.npz b/episodes/c4_p002_e013/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..8acc26739e213f09a8af2c1aaa71bcfc36ac199e --- /dev/null +++ b/episodes/c4_p002_e013/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a9325024f8f821a69c02b0841e832c002398a8e734f30a45be908b292847ab8 +size 185668 diff --git a/episodes/c4_p002_e013/device_events.jsonl b/episodes/c4_p002_e013/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b29671448b62197233af18c323515af2920fac82 --- /dev/null +++ b/episodes/c4_p002_e013/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 46, "t": 0.23, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 46, "t": 0.23, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 51, "t": 0.255, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 5543, "t": 27.715, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6156, "t": 30.78, "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": 6156, "t": 30.78, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.0874299233003555}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6156, "t": 30.78, "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": 6156, "t": 30.78, "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": 6156, "t": 30.78, "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": 6575, "t": 32.875, "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": 6575, "t": 32.875, "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": 6575, "t": 32.875, "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": 6575, "t": 32.875, "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": 6575, "t": 32.875, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 6575, "t": 32.875, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6575, "t": 32.875, "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": 6575, "t": 32.875, "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": 6575, "t": 32.875, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.0874299233003555}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 6993, "t": 34.965, "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": 6993, "t": 34.965, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.0900000000010692}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 6993, "t": 34.965, "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": 2.0900000000010692}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 6993, "t": 34.965, "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": 6993, "t": 34.965, "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": 6993, "t": 34.965, "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": 7413, "t": 37.065, "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": 7413, "t": 37.065, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 7413, "t": 37.065, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 7413, "t": 37.065, "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": 7413, "t": 37.065, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 7413, "t": 37.065, "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": 7993, "t": 39.965, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 9676, "t": 48.38, "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": 9676, "t": 48.38, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 9676, "t": 48.38, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 9676, "t": 48.38, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c4_p002_e013/env.mp4 b/episodes/c4_p002_e013/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..854dd0e82397471c074b7f32865bc67a9b861ec9 --- /dev/null +++ b/episodes/c4_p002_e013/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38a199a4e79d803e3f97189f744905eebf9078d0351e57b4f803b279644a4952 +size 1225418 diff --git a/episodes/c4_p002_e013/meta.json b/episodes/c4_p002_e013/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..81fbb1804cbfda0ebee3e6f001613998c1986f64 --- /dev/null +++ b/episodes/c4_p002_e013/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p002/magicsim/13", + "fps": 25, + "frames": 1187, + "kept_ticks": "even", + "video_frames": { + "wrist": 1187, + "env": 1187 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c4_p002_e013/scene_snapshot.json b/episodes/c4_p002_e013/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..97fb489937e1ca72a277a7d411e37da1029c610d --- /dev/null +++ b/episodes/c4_p002_e013/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 13, + "env_id": 1, + "run_id": "c4_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": [ + 0.5296335220336914, + 0.1062154769897461, + 0.8999999761581421 + ], + "ori": [ + -0.6987637877464294, + 0.0, + 0.0, + 0.715352475643158 + ], + "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": [ + 1.6820822078961184e-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": 0.19587125977981623, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.0921327437365124, + "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": 0.19587125977981623, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6646432876586914, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + -4.928820999339223e-06, + -9.128026806637379e-11, + 5.285756832229538e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5949297438311305e-10, + -1.5257726193596e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.1204510030893289e-07, + 9.835519065859444e-10, + -3.4188758490927285e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3043699264526367, + 1.0385313034057617, + 0.8999999761581421 + ], + "ori": [ + -0.39449766278266907, + -1.0344130174644306e-07, + 4.993570446032436e-09, + 0.9188969731330872 + ], + "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": [ + 6.25956397826144e-10, + 6.163963783833992e-11, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -9.358039676499175e-09, + 5.4885024525219706e-08, + -3.663127579045522e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.058406829833984375, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.0678173623102083e-10, + 2.5539284020936748e-09, + -7.843109983696195e-07 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2643069924322958e-10, + 1.517740377821042e-10, + 0.0 + ], + "angular_velocity": [ + -1.617574696410884e-08, + -1.4146280591376126e-08, + -3.031134454545281e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.560068130493164, + 1.0787343978881836, + 0.8999999761581421 + ], + "ori": [ + 0.31857120990753174, + 1.2142642447088292e-07, + -3.3273224175900395e-08, + 0.9478989243507385 + ], + "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": [ + -7.557218850706704e-09, + 2.0598349692591e-09, + 2.9802322387695312e-08 + ], + "angular_velocity": [ + -3.156746970489621e-07, + -5.946785677224398e-07, + -2.1449977793963626e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.6790580749511719, + 1.1513824462890625, + 0.9179999828338623 + ], + "ori": [ + 0.06548676639795303, + -7.526668732715791e-10, + -5.336583952519902e-10, + 0.9978535175323486 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.1391276305848805e-08, + -1.414600347970918e-08, + 1.0058283805847168e-07 + ], + "angular_velocity": [ + 2.7373272359909606e-07, + 1.560237933517783e-06, + 7.458189088538347e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.3227081298828125, + 1.036931037902832, + 0.9180000424385071 + ], + "ori": [ + -0.3985094428062439, + -1.0427206831309377e-07, + 7.894810138964203e-09, + 0.9171642661094666 + ], + "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": [ + 4.1839196995852035e-08, + 1.2217234335309968e-08, + -6.3478946685791016e-06 + ], + "angular_velocity": [ + -8.848486459100968e-07, + 1.2548491667985218e-06, + 1.7580039468612085e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.053978919982910156, + 0.4404172897338867, + 0.9179999828338623 + ], + "ori": [ + 0.9991794228553772, + 2.5893086286199463e-11, + 3.013758131942268e-09, + 0.04050309211015701 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1503553665193067e-08, + 1.3285722744171835e-08, + -5.893409252166748e-06 + ], + "angular_velocity": [ + 5.126687341316938e-08, + -1.1337131127220346e-06, + 1.1343846750833109e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.5598030090332031, + 1.0885868072509766, + 0.9179999828338623 + ], + "ori": [ + 0.2350224405527115, + 1.215918530306226e-07, + -4.197593739263539e-08, + 0.9719899296760559 + ], + "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": [ + -2.421074896119535e-08, + -9.477685125602875e-08, + 2.980232238769531e-07 + ], + "angular_velocity": [ + 2.1051382645964622e-06, + 8.664137567393482e-07, + 5.529980171559146e-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": 1.1399999999999977, + "step": 228, + "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": 1.6820822078961184e-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": 0.19587125977981623, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 181, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.5146432816982269, + 0.6999996304512024, + 0.0 + ], + "carrier_2": [ + -1.4543699324131012, + 0.5885313153266907, + 0.0 + ], + "carrier_3": [ + -0.0915931761264801, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_4": [ + 1.4100681245326996, + 0.6287344098091125, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.20003373826136822, + -0.4755359145885908, + 2.8037697685572645 + ], + "ori": [ + -5.587798068888336, + -12.783968445571134, + -26.455989076031695 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7040.18177845928, + "color": [ + 0.8884523385887378, + 0.9843088033163485, + 0.9726597555216263 + ], + "intensity": 7725.584354022309, + "width": 2.4037501571140307, + "height": 1.8496649970443546 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.3087983800594554, + 1.4817812742616556, + 2.614082767219837 + ], + "ori": [ + -5.0848174172459295, + 38.32436820289435, + -25.32473182773294 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6229.266695825919, + "color": [ + 0.8906458688384689, + 0.9784257147321925, + 0.8126363935052969 + ], + "intensity": 5365.526119105607, + "radius": 0.06344313498165406 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1451.3443345874616, + "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": [ + [ + 1.6321995258331299, + -1.5089370012283325, + 2.0906691551208496, + -2.1534314155578613, + -1.5707824230194092, + 0.035178691148757935, + 0.018000032752752304, + 0.01799996756017208 + ], + [ + 0.9141011834144592, + -1.7193987369537354, + 2.0904998779296875, + -1.9419009685516357, + -1.5707999467849731, + 2.4848999977111816, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 0.9248611927032471, + -1.5824613571166992, + 2.180659294128418, + -2.1691765785217285, + -1.5707013607025146, + 2.6750922203063965, + 0.008193116635084152, + 0.006906931288540363 + ], + [ + 1.0625488758087158, + -1.6508896350860596, + 2.1134002208709717, + -2.033273220062256, + -1.5707964897155762, + 2.623744487762451, + 0.01800156943500042, + 0.017998432740569115 + ] + ], + "joint_vel": [ + [ + 0.00011936749797314405, + -0.012956731952726841, + -0.012119278311729431, + 0.023780595511198044, + -6.53772076475434e-06, + -8.887430453796696e-07, + -6.553461844305275e-06, + 6.529994152515428e-06 + ], + [ + 2.2883444945760127e-38, + -2.1368271363030418e-38, + -2.0352313160813353e-38, + -3.4240120372762774e-37, + 5.551163824254481e-37, + -2.9739320103244723e-36, + 5.1980745041646514e-08, + -5.1980777016069624e-08 + ], + [ + 0.0008662694599479437, + 4.654956137528643e-05, + -4.7917852498358116e-05, + 0.0028336537070572376, + -0.0018807891756296158, + -0.008446749299764633, + -0.005082255229353905, + 0.00019353607785888016 + ], + [ + 0.04476097226142883, + 0.020815351977944374, + 0.0073006837628781796, + -0.026964552700519562, + 8.749091648496687e-05, + 0.04110093414783478, + 4.4459426135290414e-05, + -4.4491185690276325e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05261244997382164, + -0.0002738524053711444, + -0.030973564833402634, + -0.2867696285247803, + 0.6523716449737549, + 0.6437825560569763, + -0.2787801921367645 + ], + [ + 0.04975298419594765, + 0.0026413113810122013, + -0.028147822245955467, + -0.2788975238800049, + 0.6607436537742615, + 0.6378777027130127, + -0.28061723709106445 + ], + [ + 0.04922197759151459, + -0.0032672311645001173, + -0.028695184737443924, + -0.2887246012687683, + 0.6381606459617615, + 0.6571249961853027, + -0.27852433919906616 + ], + [ + 0.05141497403383255, + 0.003223364008590579, + -0.03027096390724182, + -0.2793697118759155, + 0.6516864895820618, + 0.6526587605476379, + -0.26700901985168457 + ] + ], + "camera1": [ + [ + 0.06799137592315674, + 0.5805333852767944, + 1.956607460975647, + 0.044886380434036255, + 0.01054947916418314, + 0.2796475887298584, + 0.9589948654174805 + ], + [ + 0.045494578778743744, + 0.5663745403289795, + 1.9324513673782349, + 0.04075014591217041, + 0.01848364807665348, + 0.28104737401008606, + 0.9586501717567444 + ], + [ + 0.05816757678985596, + 0.5959747433662415, + 1.9697424173355103, + 0.052000969648361206, + 0.025135990232229233, + 0.266117662191391, + 0.96220862865448 + ], + [ + 0.02519400417804718, + 0.5662321448326111, + 1.9400368928909302, + 0.02740968018770218, + 0.018826903775334358, + 0.2785038948059082, + 0.9598592519760132 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p002_e013/wrist.mp4 b/episodes/c4_p002_e013/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d9c896f7485d3548f1152a2a5928c011e471d8dd --- /dev/null +++ b/episodes/c4_p002_e013/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fdfc1047caaf66ac456ba45a50a63b8a1668486c1e839bfec28c9c947259c70c +size 8547185 diff --git a/episodes/c4_p002_e014/data.npz b/episodes/c4_p002_e014/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..9799ad4e68b08614bcce8d09611c8620d53410bd --- /dev/null +++ b/episodes/c4_p002_e014/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9015c3c6684fa39a960ba0eaafa8246451e51e72a8ed06019665475a92561f29 +size 188563 diff --git a/episodes/c4_p002_e014/device_events.jsonl b/episodes/c4_p002_e014/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4e2e8c3f5d4c8d1aad5bbe1b07d2086da81f6d8e --- /dev/null +++ b/episodes/c4_p002_e014/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 124, "t": 0.62, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 124, "t": 0.62, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 129, "t": 0.645, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6830, "t": 34.15, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7444, "t": 37.22, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 7444, "t": 37.22, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.0073085538337327}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7444, "t": 37.22, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 7444, "t": 37.22, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 7444, "t": 37.22, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7863, "t": 39.315, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7863, "t": 39.315, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7863, "t": 39.315, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7863, "t": 39.315, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7863, "t": 39.315, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7863, "t": 39.315, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7863, "t": 39.315, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7863, "t": 39.315, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7863, "t": 39.315, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.0073085538337327}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8465, "t": 42.325, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 8465, "t": 42.325, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.01000000000154}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8465, "t": 42.325, "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": 3.01000000000154}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8465, "t": 42.325, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 8465, "t": 42.325, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 8465, "t": 42.325, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8885, "t": 44.425, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8885, "t": 44.425, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8885, "t": 44.425, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8885, "t": 44.425, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8885, "t": 44.425, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8885, "t": 44.425, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 9467, "t": 47.335, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 11252, "t": 56.26, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 11252, "t": 56.26, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11252, "t": 56.26, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11252, "t": 56.26, "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/c4_p002_e014/env.mp4 b/episodes/c4_p002_e014/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7974ac4949db05eff9ee92d553353bae63da934a --- /dev/null +++ b/episodes/c4_p002_e014/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2fe4fa4a80c4d01108b31f7420717d6fa67f3bbb949834ea7903ee5a2758086e +size 1249221 diff --git a/episodes/c4_p002_e014/meta.json b/episodes/c4_p002_e014/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5918e4dee02198602a569dc2ef27bcbf65cfa4c4 --- /dev/null +++ b/episodes/c4_p002_e014/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p002/magicsim/14", + "fps": 25, + "frames": 1213, + "kept_ticks": "even", + "video_frames": { + "wrist": 1213, + "env": 1213 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c4_p002_e014/scene_snapshot.json b/episodes/c4_p002_e014/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..76f84122425eba8614658cfca4c7d704427b1aea --- /dev/null +++ b/episodes/c4_p002_e014/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 14, + "env_id": 3, + "run_id": "c4_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": [ + 0.49127864837646484, + 0.06891345977783203, + 0.8999999761581421 + ], + "ori": [ + -0.6909530162811279, + 0.0, + 0.0, + 0.7228996753692627 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.0184997336775146e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.26603522389150996, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2922020251615128, + "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": 0.26603522389150996, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4347677230834961, + 1.1527156829833984, + 0.8999999761581421 + ], + "ori": [ + -0.009741688147187233, + 4.755862370586783e-09, + -5.047949613867786e-09, + 0.9999526143074036 + ], + "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": [ + 1.963804052707019e-08, + 4.6202977443954296e-08, + 4.470348358154297e-08 + ], + "angular_velocity": [ + -3.9374381231027655e-06, + 1.3784141401629313e-06, + 2.436195529753604e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2640819549560547, + 1.0729494094848633, + 0.8999999761581421 + ], + "ori": [ + -0.31823432445526123, + 8.359276648661762e-08, + 4.1488245727805406e-08, + 0.948012113571167 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.409914712231398e-09, + 6.71076971769935e-09, + 4.842877388000488e-08 + ], + "angular_velocity": [ + -5.602121859737963e-07, + 2.137295496140723e-07, + -2.2065334004395254e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.14232540130615234, + 0.4475212097167969, + 0.8999999761581421 + ], + "ori": [ + 0.9999616742134094, + 1.2975652774471769e-09, + 1.5151628840470721e-09, + 0.008753940463066101 + ], + "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": [ + -2.9290925240843535e-10, + -1.4865781938766531e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 7.350470809797116e-08, + -1.190493392755343e-07, + 8.729153400111045e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6950454711914062, + 0.8440876007080078, + 0.8999999761581421 + ], + "ori": [ + 0.6680802702903748, + -6.958185139183115e-08, + 1.1877103389679178e-07, + 0.7440892457962036 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.88680026736688e-10, + 8.096034953553044e-11, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.196408388499549e-08, + -6.01464336114077e-08, + -3.828826145024777e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.4367389678955078, + 1.1627426147460938, + 0.9180000424385071 + ], + "ori": [ + -0.046027086675167084, + -8.297853071326244e-08, + -4.98412262572856e-08, + 0.9989402294158936 + ], + "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": [ + 9.89493855740875e-07, + 4.870115844823886e-06, + -1.0505318641662598e-06 + ], + "angular_velocity": [ + -3.3153057302115485e-05, + 1.0997427125403192e-05, + -1.2081029126420617e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.2533807754516602, + 1.0818395614624023, + 0.9180000424385071 + ], + "ori": [ + -0.27492204308509827, + 8.126954043063961e-08, + 4.583504775723668e-08, + 0.9614666104316711 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.5380981699972835e-08, + 3.901329392874686e-08, + -5.3085386753082275e-06 + ], + "angular_velocity": [ + -2.3186355520010693e-06, + 1.7703583807815448e-06, + 5.4546632100027637e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -0.1446981430053711, + 0.44969654083251953, + 0.9180000424385071 + ], + "ori": [ + 0.9999294877052307, + 6.407149810705448e-11, + 8.778671123366166e-10, + 0.011879032477736473 + ], + "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": [ + -2.9198430340215964e-08, + -3.3125338916306646e-08, + -5.066394805908203e-06 + ], + "angular_velocity": [ + 1.1695339026118745e-06, + -2.3271979898709105e-06, + 8.952541463713715e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.6946601867675781, + 0.8536701202392578, + 0.9179999828338623 + ], + "ori": [ + 0.6910163760185242, + -6.997763790650424e-08, + 1.1214069672860205e-07, + 0.7228391766548157 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.894524228253431e-09, + -7.126353551711873e-08, + -2.8461217880249023e-06 + ], + "angular_velocity": [ + 2.456762103975052e-06, + 8.93355149855779e-07, + 5.703841310378266e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 7.899999999999854, + "step": 1580, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 2.0184997336775146e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.26603522389150996, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1455, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.2847677171230316, + 0.7027156949043274, + 0.0 + ], + "carrier_2": [ + -1.4140819609165192, + 0.6229494214057922, + 0.0 + ], + "carrier_3": [ + -0.2923254072666168, + -0.00247877836227417, + 0.0 + ], + "carrier_4": [ + 1.5450454652309418, + 0.39408761262893677, + 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": [ + 0.01844041873168578, + 0.3557434654832916, + 2.912418204151493 + ], + "ori": [ + -8.489216194346447, + -11.35168055931113, + -27.75243287146083 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6818.362877546984, + "color": [ + 0.8354368726779238, + 0.8789098666636953, + 0.8854770454946629 + ], + "intensity": 6825.184216336811, + "width": 2.2154360365070085, + "height": 0.8625160739590227 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.163185604877489, + 1.3726026224710102, + 2.4133559284788584 + ], + "ori": [ + -4.333824551828002, + -7.207150639573328, + -34.99373533263592 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3051.30076087598, + "color": [ + 0.7528625566301758, + 0.7551153701601327, + 0.9023443445479723 + ], + "intensity": 3798.412600738682, + "radius": 0.0706303859681601 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1451.3443345874616, + "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": [ + [ + 1.6321951150894165, + -1.4145606756210327, + 2.1613290309906006, + -2.318469285964966, + -1.5707824230194092, + 0.03517138212919235, + 0.018000038340687752, + 0.017999961972236633 + ], + [ + 0.9141011834144592, + -1.7193987369537354, + 2.0904998779296875, + -1.9419009685516357, + -1.5707999467849731, + 2.4848999977111816, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 0.9248613119125366, + -1.5824615955352783, + 2.180659532546997, + -2.1691761016845703, + -1.5707013607025146, + 2.6750922203063965, + 0.008193358778953552, + 0.006907179020345211 + ], + [ + 0.914104700088501, + -1.719396948814392, + 2.0904998779296875, + -1.9419010877609253, + -1.5707999467849731, + 2.484901189804077, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.0001428434916306287, + -0.016507934778928757, + -0.009391937404870987, + 0.024590052664279938, + -6.154629318189109e-06, + 3.0248866096371785e-06, + -8.054536920099054e-06, + 8.031190191104542e-06 + ], + [ + 2.2883444945760127e-38, + -2.1368271363030418e-38, + -2.0352313160813353e-38, + -3.4240120372762774e-37, + 5.551163824254481e-37, + -2.9739320103244723e-36, + 5.1980745041646514e-08, + -5.1980777016069624e-08 + ], + [ + 0.0008747997344471514, + 6.359285907819867e-05, + -7.47584635973908e-05, + 0.0028271374758332968, + -0.0018810323672369123, + -0.008433600887656212, + -0.0050828526727855206, + 0.00019451609114184976 + ], + [ + 2.2677805797418924e-38, + -2.614380404375075e-38, + -1.991757712783815e-38, + -3.416512287895211e-37, + 7.166237656064063e-37, + 2.4527411758242052e-36, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04986799880862236, + -0.0010887496173381805, + -0.03458250313997269, + -0.2850404381752014, + 0.6501628160476685, + 0.6447526216506958, + -0.28343307971954346 + ], + [ + 0.052324939519166946, + 0.003503032959997654, + -0.030028436332941055, + -0.28007152676582336, + 0.6559652090072632, + 0.6421135663986206, + -0.28099775314331055 + ], + [ + 0.04941133037209511, + -0.0018888185732066631, + -0.027378762140870094, + -0.28953826427459717, + 0.6430519819259644, + 0.6539850831031799, + -0.2737794816493988 + ], + [ + 0.05144777521491051, + 0.001927184872329235, + -0.03116668574512005, + -0.2791782319545746, + 0.6535735130310059, + 0.6488808989524841, + -0.2717623710632324 + ] + ], + "camera1": [ + [ + 0.06799137592315674, + 0.5805333852767944, + 1.956607460975647, + 0.044886380434036255, + 0.01054947916418314, + 0.2796475887298584, + 0.9589948654174805 + ], + [ + 0.045494578778743744, + 0.5663745403289795, + 1.9324513673782349, + 0.04075014591217041, + 0.01848364807665348, + 0.28104737401008606, + 0.9586501717567444 + ], + [ + 0.05816757678985596, + 0.5959747433662415, + 1.9697424173355103, + 0.052000969648361206, + 0.025135990232229233, + 0.266117662191391, + 0.96220862865448 + ], + [ + 0.02519400417804718, + 0.5662321448326111, + 1.9400368928909302, + 0.02740968018770218, + 0.018826903775334358, + 0.2785038948059082, + 0.9598592519760132 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p002_e014/wrist.mp4 b/episodes/c4_p002_e014/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ded7489d714b87c37d35ce3a802d77075aec536f --- /dev/null +++ b/episodes/c4_p002_e014/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8557a4ebb0381ec08cd62d46e7b6970b598dbfa8683784bb4689d27b6c8cacf +size 6804834 diff --git a/episodes/c4_p002_e015/data.npz b/episodes/c4_p002_e015/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..aa0bd2f23b03c6b8b0a48bc527c35e292e1bf254 --- /dev/null +++ b/episodes/c4_p002_e015/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c469ca08dc59862c1027c2a3989c5544f16b893d78174807eaef3cf0ef2e5f75 +size 189254 diff --git a/episodes/c4_p002_e015/device_events.jsonl b/episodes/c4_p002_e015/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7efe25d3d19b718851d951b96c63b560408cbfa3 --- /dev/null +++ b/episodes/c4_p002_e015/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 117, "t": 0.585, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 117, "t": 0.585, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 122, "t": 0.61, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6203, "t": 31.015, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6816, "t": 34.08, "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": 6816, "t": 34.08, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.379450314649584}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6816, "t": 34.08, "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": 6816, "t": 34.08, "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": 6816, "t": 34.08, "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": 7235, "t": 36.175, "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": 7235, "t": 36.175, "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": 7235, "t": 36.175, "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": 7235, "t": 36.175, "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": 7235, "t": 36.175, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7235, "t": 36.175, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7235, "t": 36.175, "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": 7235, "t": 36.175, "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": 7235, "t": 36.175, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.379450314649584}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7911, "t": 39.555, "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": 7911, "t": 39.555, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.380000000001729}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7911, "t": 39.555, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.380000000001729}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7911, "t": 39.555, "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": 7911, "t": 39.555, "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": 7911, "t": 39.555, "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": 8331, "t": 41.655, "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": 8331, "t": 41.655, "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": 8331, "t": 41.655, "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": 8331, "t": 41.655, "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": 8331, "t": 41.655, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8331, "t": 41.655, "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": 8912, "t": 44.56, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 10640, "t": 53.2, "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": 10640, "t": 53.2, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 10640, "t": 53.2, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10640, "t": 53.2, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c4_p002_e015/env.mp4 b/episodes/c4_p002_e015/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d90fd278e8abe9b823e507f3a05471ec27743fd4 --- /dev/null +++ b/episodes/c4_p002_e015/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7115ef15c16d1ff4ac9c7d2c81b914072f6159acc07fb3a26292a080ffae662 +size 1197628 diff --git a/episodes/c4_p002_e015/meta.json b/episodes/c4_p002_e015/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3b948f6b8aeff03d714fe6c757c04dc55b7512c2 --- /dev/null +++ b/episodes/c4_p002_e015/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p002/magicsim/15", + "fps": 25, + "frames": 1204, + "kept_ticks": "even", + "video_frames": { + "wrist": 1204, + "env": 1204 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c4_p002_e015/scene_snapshot.json b/episodes/c4_p002_e015/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..2e7a0b4d2cd0d7e426576f67d4f3b4f3199db598 --- /dev/null +++ b/episodes/c4_p002_e015/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 15, + "env_id": 0, + "run_id": "c4_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5132904052734375, + 0.09563636779785156, + 0.8999999761581421 + ], + "ori": [ + -0.7040147185325623, + 0.0, + 0.0, + 0.7101854085922241 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.700581507892764e-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": 0.24865581139005727, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.06342342959102315, + "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": 0.24865581139005727, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.08610057830810547, + 0.45000362396240234, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.023298583177848e-09, + 3.917298929678736e-09, + -5.1852701290044934e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3014589406168398e-10, + 1.189238818533056e-09, + 0.0 + ], + "angular_velocity": [ + -8.458525257992733e-08, + -6.3202509892335e-09, + -1.4082388588576578e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6962509155273438, + 0.8369483947753906, + 0.8999999761581421 + ], + "ori": [ + 0.6710379123687744, + -1.5284539855997537e-08, + 4.553953658614773e-08, + 0.7414230704307556 + ], + "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": [ + -3.829136119293253e-08, + -3.376698032298009e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + 7.724484021309763e-07, + -9.795078312890837e-07, + 3.400628258987126e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3541593551635742, + 0.631434440612793, + 0.8999999761581421 + ], + "ori": [ + -0.8566471934318542, + 1.7903807325581056e-09, + 8.432347264886175e-09, + 0.515902578830719 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0681450168803508e-10, + 6.97403856886325e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -7.060013729187631e-08, + -6.868843716034689e-09, + -2.7584787787304776e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5798768997192383, + 1.1524534225463867, + 0.8999999761581421 + ], + "ori": [ + -0.011434080079197884, + -2.377085195348627e-10, + -6.925974238569665e-10, + 0.9999346733093262 + ], + "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": [ + -3.695308059548097e-09, + -6.802070018352424e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 8.847854360283236e-07, + -2.489553878604056e-07, + -6.182007439292647e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.074737548828125, + 0.45886993408203125, + 0.9179999828338623 + ], + "ori": [ + 0.9992343187332153, + 4.032841616208316e-09, + 2.998865378245341e-09, + -0.039127230644226074 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.1336678202033e-08, + -1.4678423809755259e-08, + 1.0803341865539551e-07 + ], + "angular_velocity": [ + 8.322321036757785e-07, + -1.7606856772545143e-06, + 2.99028926065148e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 1.685835838317871, + 0.8470544815063477, + 0.9180000424385071 + ], + "ori": [ + 0.6457038521766663, + -1.326598386697242e-08, + 4.6223206595641386e-08, + 0.763588011264801 + ], + "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": [ + -3.48287620965948e-08, + -4.9567120186111424e-08, + -5.37186861038208e-06 + ], + "angular_velocity": [ + 2.4147198018908966e-06, + 4.742972805615864e-07, + 3.635476275576366e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.3633909225463867, + 0.6442251205444336, + 0.9180000424385071 + ], + "ori": [ + -0.8315617442131042, + 1.889508771668602e-09, + 8.785219662854615e-09, + 0.5554323792457581 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.530631673802191e-10, + 3.2363825397396795e-08, + -5.956739187240601e-06 + ], + "angular_velocity": [ + -9.399700502399355e-07, + -7.183383559095091e-07, + 1.284876987028838e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.5727777481079102, + 1.141036033630371, + 0.9179999828338623 + ], + "ori": [ + -0.06170634552836418, + 5.671822456143616e-10, + -1.5195953384505856e-09, + 0.9980943202972412 + ], + "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": [ + 2.494972584088373e-08, + -3.4932114090224786e-08, + -1.2256205081939697e-06 + ], + "angular_velocity": [ + -7.243022537295474e-08, + 1.588135660313128e-06, + -5.223013843647095e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 5.199999999999911, + "step": 1040, + "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": 3.700581507892764e-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": 0.24865581139005727, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 922, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.06389942765235901, + 3.635883331298828e-06, + 0.0 + ], + "carrier_2": [ + 1.5462509095668793, + 0.3869484066963196, + 0.0 + ], + "carrier_3": [ + -1.5041593611240387, + 0.18143445253372192, + 0.0 + ], + "carrier_4": [ + 0.4298768937587738, + 0.7024534344673157, + 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": [ + 0.33249131913596874, + 0.25156497507513376, + 3.1062191379157333 + ], + "ori": [ + 2.595161712960838, + 0.07993441934544698, + -27.122353938750933 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4215.955275656226, + "color": [ + 0.9684918231618092, + 0.8927203558118573, + 0.7832095288175243 + ], + "intensity": 15238.512290471554, + "width": 2.081066784788517, + "height": 1.7678644486852968 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.2958112940225304, + -0.5100918067055362, + 2.4410324155058425 + ], + "ori": [ + -28.751871621966973, + 9.478629290697533, + 1.2006404146218586 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6294.362797724856, + "color": [ + 0.8019522707752343, + 0.9936119288363495, + 0.8020684801049202 + ], + "intensity": 7683.748634564414, + "radius": 0.13775359540886428 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1359.8341767410732, + "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": [ + [ + 0.9141026735305786, + -1.7193986177444458, + 2.0904998779296875, + -1.9419009685516357, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.8911884427070618, + -1.4589892625808716, + 2.048764705657959, + -2.1610074043273926, + -1.570799469947815, + 2.381337881088257, + 0.006976690609008074, + 0.006872739642858505 + ], + [ + 2.8052616119384766, + -1.690062165260315, + 1.7430130243301392, + -1.623320460319519, + -1.5706207752227783, + 4.376173973083496, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 1.2826018333435059, + -1.5492535829544067, + 2.147254228591919, + -2.168815851211548, + -1.5707839727401733, + 2.829749584197998, + 0.007594182156026363, + 0.007023117505013943 + ] + ], + "joint_vel": [ + [ + 0.0, + 2.684849181808734e-38, + 1.809088368610132e-38, + 2.3834916513687734e-37, + -3.0487721102916236e-37, + -8.560687918741786e-37, + -3.746492516559716e-38, + 8.199359410287686e-38 + ], + [ + 0.0009806981543079019, + 0.0008121755672618747, + 0.0023848204873502254, + 0.002070518909022212, + -0.0015847072936594486, + -0.005141420755535364, + -0.009977369569242, + -0.001472790027037263 + ], + [ + -6.811923412897158e-06, + -3.405926690902561e-06, + -3.4059576137224212e-06, + -3.405974439374404e-06, + 3.405978532100562e-06, + 1.3623915947391652e-05, + 1.8192963580077048e-07, + 1.8190969797160506e-07 + ], + [ + 4.468587940209545e-05, + -3.0033219445613213e-05, + -0.00012152471754234284, + 0.0005318340263329446, + -0.0002583565947134048, + -0.0018954388797283173, + -0.007342720869928598, + 0.00022824214829597622 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05154479295015335, + -0.0006490919040516019, + -0.030392734333872795, + -0.2925942838191986, + 0.6522892117500305, + 0.6370819211006165, + -0.2881561517715454 + ], + [ + 0.05264592170715332, + 7.472762081306428e-05, + -0.02707848884165287, + -0.2722415626049042, + 0.6574418544769287, + 0.6428806185722351, + -0.28347697854042053 + ], + [ + 0.048656661063432693, + -0.0027668965049088, + -0.029208403080701828, + -0.2876318395137787, + 0.6372401714324951, + 0.6600411534309387, + -0.2748427987098694 + ], + [ + 0.05210675671696663, + 0.002347948495298624, + -0.02873777598142624, + -0.2757349908351898, + 0.65272456407547, + 0.6516637802124023, + -0.27065685391426086 + ] + ], + "camera1": [ + [ + 0.06799137592315674, + 0.5805333852767944, + 1.956607460975647, + 0.044886380434036255, + 0.01054947916418314, + 0.2796475887298584, + 0.9589948654174805 + ], + [ + 0.045494578778743744, + 0.5663745403289795, + 1.9324513673782349, + 0.04075014591217041, + 0.01848364807665348, + 0.28104737401008606, + 0.9586501717567444 + ], + [ + 0.05816757678985596, + 0.5959747433662415, + 1.9697424173355103, + 0.052000969648361206, + 0.025135990232229233, + 0.266117662191391, + 0.96220862865448 + ], + [ + 0.02519400417804718, + 0.5662321448326111, + 1.9400368928909302, + 0.02740968018770218, + 0.018826903775334358, + 0.2785038948059082, + 0.9598592519760132 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p002_e015/wrist.mp4 b/episodes/c4_p002_e015/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e717289129d3d02196a0859581a94bae94d54878 --- /dev/null +++ b/episodes/c4_p002_e015/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:739f9a175367ee92fe29368c095bfbe0d8fefcad5bd313e1dca8f4531d092951 +size 6529595 diff --git a/episodes/c4_p002_e016/data.npz b/episodes/c4_p002_e016/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..2e07e784bb71a0a3aaf07743ff3de733cc93abf2 --- /dev/null +++ b/episodes/c4_p002_e016/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dcebc39cac3c76848f6d70fa579323311f9960bf9acc9b89dc1df2186b2d5646 +size 186128 diff --git a/episodes/c4_p002_e016/device_events.jsonl b/episodes/c4_p002_e016/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ff8b2b207dc9b3cf43f99ea54989048be7af1df1 --- /dev/null +++ b/episodes/c4_p002_e016/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 186, "t": 0.93, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 186, "t": 0.93, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 191, "t": 0.955, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 5295, "t": 26.475, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 5908, "t": 29.54, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 5908, "t": 29.54, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.590424875513054}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 5908, "t": 29.54, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 5908, "t": 29.54, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 5908, "t": 29.54, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 6327, "t": 31.635, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 6327, "t": 31.635, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 6327, "t": 31.635, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 6327, "t": 31.635, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 6327, "t": 31.635, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 6327, "t": 31.635, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 6327, "t": 31.635, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 6327, "t": 31.635, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 6327, "t": 31.635, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.590424875513054}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7046, "t": 35.23, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7046, "t": 35.23, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.59500000000158}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7046, "t": 35.23, "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": 3.59500000000158}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7046, "t": 35.23, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 7046, "t": 35.23, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7046, "t": 35.23, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 7466, "t": 37.33, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 7466, "t": 37.33, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.264254144763612e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 7466, "t": 37.33, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.264254144763612e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 7466, "t": 37.33, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 7466, "t": 37.33, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 7466, "t": 37.33, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8045, "t": 40.225, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 9852, "t": 49.26, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 9852, "t": 49.26, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 9852, "t": 49.26, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 9852, "t": 49.26, "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/c4_p002_e016/env.mp4 b/episodes/c4_p002_e016/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bdd5af67835ca7927dc4f302dbd36f19091b2942 --- /dev/null +++ b/episodes/c4_p002_e016/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e906fabcadb8028f055185c45d923fabae4b1ab419d680d26b905dd4d76934c +size 1298195 diff --git a/episodes/c4_p002_e016/meta.json b/episodes/c4_p002_e016/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6c6ea5c02ab536271a868b6da7a876b6ce11f6e8 --- /dev/null +++ b/episodes/c4_p002_e016/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p002/magicsim/16", + "fps": 25, + "frames": 1205, + "kept_ticks": "even", + "video_frames": { + "wrist": 1205, + "env": 1205 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c4_p002_e016/scene_snapshot.json b/episodes/c4_p002_e016/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..09ba53cd027fb65cc47cae41227e96840c6d26ef --- /dev/null +++ b/episodes/c4_p002_e016/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 16, + "env_id": 3, + "run_id": "c4_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": [ + 0.49127864837646484, + 0.06891345977783203, + 0.8999999761581421 + ], + "ori": [ + -0.6909530162811279, + 0.0, + 0.0, + 0.7228996753692627 + ], + "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": 0.22901266770286113, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.22339455719528328, + "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": 0.22901266770286113, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.692854881286621, + 0.8567657470703125, + 0.8999999761581421 + ], + "ori": [ + 0.6537820100784302, + -1.0386179383203853e-07, + 1.4556958305433909e-08, + 0.7566829323768616 + ], + "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": [ + 1.1084245743475662e-09, + 3.7147274145610254e-10, + 0.0 + ], + "angular_velocity": [ + 8.566640730123254e-10, + -5.4064358323557826e-08, + 2.963818879209157e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.570002555847168, + 1.1525373458862305, + 0.8999999761581421 + ], + "ori": [ + -0.009722148068249226, + -7.84947662424429e-09, + -6.157632181924555e-10, + 0.9999527335166931 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.6393188462824355e-10, + 9.631717645675053e-11, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.6853832935103128e-08, + -2.2399433419195702e-08, + -2.9211282281949025e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.07307815551757812, + 0.4474191665649414, + 0.8999999761581421 + ], + "ori": [ + -0.9999541640281677, + 8.55902571039735e-10, + -3.0299276421175136e-09, + -0.009576008655130863 + ], + "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": [ + -1.9326873434977188e-10, + 1.2462104681532082e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -6.997036905431742e-08, + -2.326817316600227e-08, + 1.632750823432616e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3931474685668945, + 0.853541374206543, + 0.8999999761581421 + ], + "ori": [ + -0.6447749137878418, + 5.470075947755504e-08, + -4.73633008368779e-08, + 0.7643725872039795 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.897055401656189e-09, + -2.9902511022861233e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 5.457005514131197e-09, + 2.325709260730946e-07, + 1.4145042470659064e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.685286521911621, + 0.8659505844116211, + 0.9179999828338623 + ], + "ori": [ + 0.6260735392570496, + -1.0209252820914116e-07, + 2.035243085174443e-08, + 0.7797641158103943 + ], + "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": [ + 1.8350066355310446e-08, + -3.645238066951606e-08, + 8.195638656616211e-08 + ], + "angular_velocity": [ + 1.3131844980307505e-06, + 1.1486832818263792e-06, + 1.1249713338656875e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.5591316223144531, + 1.1526126861572266, + 0.9180000424385071 + ], + "ori": [ + -0.007120709866285324, + -7.664997525580475e-09, + -1.9791588368178736e-09, + 0.9999747276306152 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.1409604755717737e-08, + -1.4660167302338323e-08, + -4.936009645462036e-06 + ], + "angular_velocity": [ + -2.0817193302491432e-08, + 1.627223923605925e-06, + 1.2216381151120004e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -0.07021331787109375, + 0.4503774642944336, + 0.9180000424385071 + ], + "ori": [ + 0.9980709552764893, + 1.5693616406409205e-09, + 3.22611581893284e-09, + 0.062083788216114044 + ], + "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": [ + -1.592544052186895e-08, + 5.696481952810473e-09, + -5.893409252166748e-06 + ], + "angular_velocity": [ + 3.315954870686255e-07, + -1.1123996728201746e-06, + 9.725297189788762e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.3828229904174805, + 0.8573179244995117, + 0.9179999828338623 + ], + "ori": [ + -0.7055044174194336, + 4.9434724758157245e-08, + -4.029651634596121e-08, + 0.7087056040763855 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.336165370157687e-08, + 1.0322704468990196e-07, + -1.389533281326294e-06 + ], + "angular_velocity": [ + -4.837472260987852e-06, + 3.04972127196379e-06, + 1.4012745452873787e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 1.2599999999999951, + "step": 252, + "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": 0.22901266770286113, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 65, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5428548753261566, + 0.40676575899124146, + 0.0 + ], + "carrier_2": [ + 0.4200025498867035, + 0.7025373578071594, + 0.0 + ], + "carrier_3": [ + -0.2230781614780426, + -0.0025808215141296387, + 0.0 + ], + "carrier_4": [ + -1.543147474527359, + 0.4035413861274719, + 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": [ + -0.2897862495202207, + 0.549890303729692, + 2.980454692235758 + ], + "ori": [ + -3.0215565217389297, + -4.970079223335647, + 5.779295101725154 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6766.903584459629, + "color": [ + 0.9996463448506816, + 0.9038617257250461, + 0.9479920949822043 + ], + "intensity": 13488.495561895576, + "width": 1.6018337061215604, + "height": 1.889303942341364 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.1090523186546815, + 0.28257746260239847, + 1.6309640926314217 + ], + "ori": [ + 24.040599118809055, + -1.1402675550469183, + -24.038090165613298 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3773.1021010950817, + "color": [ + 0.8998103638195998, + 0.8985612881259204, + 0.883719358676212 + ], + "intensity": 9430.2788079087, + "radius": 0.13836899272919617 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1359.8341767410732, + "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": [ + [ + 0.929246187210083, + -1.7292894124984741, + 2.2436928749084473, + -2.0853493213653564, + -1.5708353519439697, + 5.627547740936279, + 0.007616526447236538, + 0.007228616159409285 + ], + [ + 0.9141008257865906, + -1.7193975448608398, + 2.09049916267395, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.9900110363960266, + -1.4849586486816406, + 2.2248854637145996, + -2.3106799125671387, + -1.5707966089248657, + 2.6978087425231934, + 0.018000047653913498, + 0.017999950796365738 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.07100878655910492, + 0.032774362713098526, + -0.008858121931552887, + -0.019555263221263885, + 0.00022176463971845806, + 0.07150712609291077, + -0.00775566603988409, + 0.0004193616914562881 + ], + [ + 2.8266796440575204e-38, + -1.642119452690437e-38, + 1.5539441481212623e-38, + -5.00757122714258e-37, + 4.23527730392719e-37, + -2.8844206517474717e-37, + -2.5990386731677972e-08, + 2.5990386731677972e-08 + ], + [ + -9.218190098181367e-05, + 0.015939323231577873, + 0.009456640109419823, + -0.02423502691090107, + -7.869045475672465e-06, + 0.00010176096839131787, + -6.761982149328105e-06, + 6.763820238120388e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05166969448328018, + -0.0049461484886705875, + -0.03173460811376572, + -0.2840145230293274, + 0.6506344079971313, + 0.6438461542129517, + -0.2854343354701996 + ], + [ + 0.05115663632750511, + 0.004312937147915363, + -0.030057867988944054, + -0.2738325893878937, + 0.6547306776046753, + 0.6469408273696899, + -0.2789462208747864 + ], + [ + 0.048809610307216644, + -0.0036395012866705656, + -0.028311338275671005, + -0.28819265961647034, + 0.6396285891532898, + 0.659798264503479, + -0.26923325657844543 + ], + [ + 0.05085242539644241, + 0.002047804882749915, + -0.029315991327166557, + -0.2802738547325134, + 0.6534464359283447, + 0.6497925519943237, + -0.26874515414237976 + ] + ], + "camera1": [ + [ + 0.06799137592315674, + 0.5805333852767944, + 1.956607460975647, + 0.044886380434036255, + 0.01054947916418314, + 0.2796475887298584, + 0.9589948654174805 + ], + [ + 0.045494578778743744, + 0.5663745403289795, + 1.9324513673782349, + 0.04075014591217041, + 0.01848364807665348, + 0.28104737401008606, + 0.9586501717567444 + ], + [ + 0.05816757678985596, + 0.5959747433662415, + 1.9697424173355103, + 0.052000969648361206, + 0.025135990232229233, + 0.266117662191391, + 0.96220862865448 + ], + [ + 0.02519400417804718, + 0.5662321448326111, + 1.9400368928909302, + 0.02740968018770218, + 0.018826903775334358, + 0.2785038948059082, + 0.9598592519760132 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p002_e016/wrist.mp4 b/episodes/c4_p002_e016/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4771aac4707dbc355a66a5b25e3bfae4d7f67ac7 --- /dev/null +++ b/episodes/c4_p002_e016/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47711b5ac875718178b731c589687e25e5d3a94d69b56f7c295c6677409f5841 +size 6436747 diff --git a/episodes/c4_p002_e017/data.npz b/episodes/c4_p002_e017/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..b43be5205313658989c71b914981ed40d0b7c16f --- /dev/null +++ b/episodes/c4_p002_e017/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c538de93de3e45012c752584bb89e03cce69dbb5eb759598166cceb6cb3fcc0 +size 201545 diff --git a/episodes/c4_p002_e017/device_events.jsonl b/episodes/c4_p002_e017/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2b8080999c11ae7e5ed30b75944d52b5d04cd01a --- /dev/null +++ b/episodes/c4_p002_e017/device_events.jsonl @@ -0,0 +1,41 @@ +{"env_id": 2, "seq": 1, "step": 92, "t": 0.46, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 92, "t": 0.46, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 97, "t": 0.485, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1924, "t": 9.62, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 1946, "t": 9.73, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 1963, "t": 9.815, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 1992, "t": 9.96, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 8, "step": 2019, "t": 10.095, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 2046, "t": 10.23, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 10, "step": 6991, "t": 34.955, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 7604, "t": 38.02, "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": 12, "step": 7604, "t": 38.02, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.6884158503014155}, "cause": "task-2-1"} +{"env_id": 2, "seq": 13, "step": 7604, "t": 38.02, "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": 14, "step": 7604, "t": 38.02, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 15, "step": 7604, "t": 38.02, "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": 16, "step": 8023, "t": 40.115, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 17, "step": 8023, "t": 40.115, "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": 18, "step": 8023, "t": 40.115, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 19, "step": 8023, "t": 40.115, "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": 20, "step": 8023, "t": 40.115, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 21, "step": 8023, "t": 40.115, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 22, "step": 8023, "t": 40.115, "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": 23, "step": 8023, "t": 40.115, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 8023, "t": 40.115, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.6884158503014155}, "cause": "program-2-3"} +{"env_id": 2, "seq": 25, "step": 8361, "t": 41.805, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 8361, "t": 41.805, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.6900000000008646}, "cause": "program-2-3"} +{"env_id": 2, "seq": 27, "step": 8361, "t": 41.805, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.6900000000008646}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 28, "step": 8361, "t": 41.805, "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": 29, "step": 8361, "t": 41.805, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 30, "step": 8361, "t": 41.805, "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": 31, "step": 8781, "t": 43.905, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 8781, "t": 43.905, "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": 33, "step": 8781, "t": 43.905, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 34, "step": 8781, "t": 43.905, "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": 35, "step": 8781, "t": 43.905, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 36, "step": 8781, "t": 43.905, "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": 37, "step": 9363, "t": 46.815, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 38, "step": 11576, "t": 57.88, "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": 39, "step": 11576, "t": 57.88, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 40, "step": 11576, "t": 57.88, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 41, "step": 11576, "t": 57.88, "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/c4_p002_e017/env.mp4 b/episodes/c4_p002_e017/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dba767237d820612cbf0ad1c059de5b7d04ea448 --- /dev/null +++ b/episodes/c4_p002_e017/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48eb97415f8ae007a07ae7b8118c51dfc4800642c5ee23cc4efc925995ce5e14 +size 1383977 diff --git a/episodes/c4_p002_e017/meta.json b/episodes/c4_p002_e017/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f61ccd4e8e47bd6668f755b3d00269d959d17333 --- /dev/null +++ b/episodes/c4_p002_e017/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p002/magicsim/17", + "fps": 25, + "frames": 1264, + "kept_ticks": "even", + "video_frames": { + "wrist": 1264, + "env": 1264 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c4_p002_e017/scene_snapshot.json b/episodes/c4_p002_e017/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..1f6881370a0343815a311a93320f049772acaaa4 --- /dev/null +++ b/episodes/c4_p002_e017/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 17, + "env_id": 2, + "run_id": "c4_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4789714813232422, + 0.05381488800048828, + 0.8999999761581421 + ], + "ori": [ + 0.7172253727912903, + 0.0, + 0.0, + -0.696841299533844 + ], + "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": [ + 3.3641665841965818e-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": 0.22975546918370332, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.16755248049342328, + "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": 0.22975546918370332, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2878093719482422, + 1.0524988174438477, + 0.8999999761581421 + ], + "ori": [ + -0.3619614541530609, + 1.5993151691873209e-07, + -9.697173197764641e-08, + 0.9321931600570679 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.9899881742446723e-09, + 2.368775176009308e-09, + -7.450580596923828e-09 + ], + "angular_velocity": [ + 2.3119476111332915e-08, + -1.064594812305586e-07, + -3.434607975805193e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.46616649627685547, + 1.1499948501586914, + 0.8999999761581421 + ], + "ori": [ + 3.641764851636253e-05, + -6.126040230647334e-10, + 2.6584856538391932e-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": [ + -1.0716760812101711e-09, + -1.4959875560549563e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 1.1546565303888201e-07, + -1.1174837055705211e-07, + -7.044675953693513e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.018026351928710938, + 0.45000362396240234, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.0650411663704062e-09, + 7.417488845362641e-11, + -2.5342202206957154e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0962279972659417e-09, + 7.095160015069268e-10, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -2.7097829757849468e-08, + 1.088410783722793e-07, + -1.2842050978179032e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4576196670532227, + 0.47045040130615234, + 0.8999999761581421 + ], + "ori": [ + 0.9883677363395691, + 1.8806481705269107e-08, + -3.3992918702097086e-08, + 0.15208347141742706 + ], + "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": [ + 8.101159743034714e-09, + -5.861120477845816e-10, + 4.842877388000488e-08 + ], + "angular_velocity": [ + -2.902155529227457e-07, + 5.711839321520529e-07, + 4.1200923561746094e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.2921905517578125, + 1.0585708618164062, + 0.9179999828338623 + ], + "ori": [ + -0.30257344245910645, + 1.6716029449526104e-07, + -8.764618542045355e-08, + 0.953126072883606 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.2425659551572608e-08, + 3.281127902710068e-08, + 8.568167686462402e-08 + ], + "angular_velocity": [ + -1.5661013321732753e-06, + 1.195223376271315e-06, + -3.4304981966215564e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.4600391387939453, + 1.1471405029296875, + 0.9180000424385071 + ], + "ori": [ + -0.06564976274967194, + 2.890834516211527e-10, + 2.3679049832026067e-09, + 0.9978427290916443 + ], + "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": [ + 4.165600309136153e-09, + -1.882998645896805e-09, + -5.5283308029174805e-06 + ], + "angular_velocity": [ + -1.0821410114658647e-06, + 1.8033276774076512e-06, + -6.910488536959747e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -0.01677227020263672, + 0.4482002258300781, + 0.9180000424385071 + ], + "ori": [ + 0.9976316094398499, + 9.362339792318153e-10, + -7.003480573253285e-10, + -0.06878399848937988 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.6492979749169763e-09, + 1.568849228306135e-08, + -5.446374416351318e-06 + ], + "angular_velocity": [ + -8.409257645780599e-08, + -1.7713763327265042e-06, + -2.18704023779992e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.4539518356323242, + 0.47751426696777344, + 0.9179999828338623 + ], + "ori": [ + 0.9971737861633301, + 2.4189812819486178e-08, + -3.126481473714193e-08, + 0.07513027638196945 + ], + "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": [ + 1.9061907607920148e-08, + -1.5947819065331714e-08, + -9.238719940185547e-07 + ], + "angular_velocity": [ + 1.7314805518253706e-06, + -8.87274779870495e-07, + 1.226613619564887e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 7.519999999999862, + "step": 1504, + "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": 3.3641665841965818e-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": 0.22975546918370332, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1411, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.4378093779087067, + 0.6024988293647766, + 0.0 + ], + "carrier_2": [ + 0.316166490316391, + 0.6999948620796204, + 0.0 + ], + "carrier_3": [ + -0.16802635788917542, + 3.635883331298828e-06, + 0.0 + ], + "carrier_4": [ + 1.3076196610927582, + 0.0204504132270813, + 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 + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.27934539694478766, + -0.11738041799324656, + 2.9278400966989153 + ], + "ori": [ + 11.336909166966318, + -5.228155612560505, + 26.35479153627203 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6461.882669887977, + "color": [ + 0.9742490892096847, + 0.8309228177814887, + 0.7901448508323133 + ], + "intensity": 9786.293039608201, + "width": 1.5762919928220465, + "height": 0.8278356012020481 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.0769671112500498, + -0.5070478549376523, + 2.0388790563935926 + ], + "ori": [ + -35.023645736992925, + 20.829162443618607, + 3.5704107639999734 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6883.629961385171, + "color": [ + 0.7993557181538927, + 0.7873609192947171, + 0.9952262607191791 + ], + "intensity": 5120.410323365784, + "radius": 0.42950813438378 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1359.8341767410732, + "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": [ + [ + -0.18769092857837677, + -2.2399187088012695, + 2.4306797981262207, + -1.7623900175094604, + -1.5711435079574585, + 4.467544078826904, + 0.008850283920764923, + 0.0063851093873381615 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141038656234741, + -1.719395637512207, + 2.090498208999634, + -1.941900610923767, + -1.5707999467849731, + 2.4849016666412354, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.028853973373770714, + 0.01426759734749794, + 0.002236851491034031, + -0.0076283239759504795, + 0.0050696078687906265, + 0.016833722591400146, + -0.002442501485347748, + -9.523833432467654e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 2.8778598283894415e-38, + 0.0, + -1.2223016431664365e-38, + -6.656923734090354e-37, + 3.3492320249872764e-37, + 2.0027117749833193e-37, + -3.103969144697501e-38, + -4.3827078032549266e-38 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05223764106631279, + -0.0024864247534424067, + -0.031756121665239334, + -0.28464025259017944, + 0.6498646140098572, + 0.6465477347373962, + -0.28041380643844604 + ], + [ + 0.054275840520858765, + 0.0028282387647777796, + -0.02864968776702881, + -0.2714765667915344, + 0.6582513451576233, + 0.6429864764213562, + -0.28208866715431213 + ], + [ + 0.04870060086250305, + -0.0008753625443205237, + -0.027999913319945335, + -0.2895970046520233, + 0.6408397555351257, + 0.6573749780654907, + -0.27076953649520874 + ], + [ + 0.05244253948330879, + 0.002422863384708762, + -0.02921193093061447, + -0.27571165561676025, + 0.653925895690918, + 0.6502515077590942, + -0.27117711305618286 + ] + ], + "camera1": [ + [ + 0.06799137592315674, + 0.5805333852767944, + 1.956607460975647, + 0.044886380434036255, + 0.01054947916418314, + 0.2796475887298584, + 0.9589948654174805 + ], + [ + 0.045494578778743744, + 0.5663745403289795, + 1.9324513673782349, + 0.04075014591217041, + 0.01848364807665348, + 0.28104737401008606, + 0.9586501717567444 + ], + [ + 0.05816757678985596, + 0.5959747433662415, + 1.9697424173355103, + 0.052000969648361206, + 0.025135990232229233, + 0.266117662191391, + 0.96220862865448 + ], + [ + 0.02519400417804718, + 0.5662321448326111, + 1.9400368928909302, + 0.02740968018770218, + 0.018826903775334358, + 0.2785038948059082, + 0.9598592519760132 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p002_e017/wrist.mp4 b/episodes/c4_p002_e017/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..eb82860ee8dec4a1741aeb14d2ccda155f878c84 --- /dev/null +++ b/episodes/c4_p002_e017/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a86eb8f7fd52b8d2eefe5469e7bbcf9c1dc8dbd832689c5cc5b9abcdd2b0f5f7 +size 6888548 diff --git a/episodes/c4_p002_e018/data.npz b/episodes/c4_p002_e018/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..b1df656d4a7a25b1fe3d1087b2519020664416e3 --- /dev/null +++ b/episodes/c4_p002_e018/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b04c5cae934a22a6c05f2c4cbb08f58b33e2f942565b20e4aa6f693b81a41b04 +size 188511 diff --git a/episodes/c4_p002_e018/device_events.jsonl b/episodes/c4_p002_e018/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef487e8cae7844ac8e1f82ada416533e7970b41f --- /dev/null +++ b/episodes/c4_p002_e018/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 118, "t": 0.59, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 118, "t": 0.59, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 123, "t": 0.615, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1943, "t": 9.715, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6983, "t": 34.915, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 7592, "t": 37.96, "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": 7592, "t": 37.96, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.7481748009234184}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 7592, "t": 37.96, "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": 7592, "t": 37.96, "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": 7592, "t": 37.96, "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": 8011, "t": 40.055, "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": 8011, "t": 40.055, "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": 8011, "t": 40.055, "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": 8011, "t": 40.055, "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": 8011, "t": 40.055, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 8011, "t": 40.055, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 8011, "t": 40.055, "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": 8011, "t": 40.055, "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": 8011, "t": 40.055, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.7481748009234184}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 8761, "t": 43.805, "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": 8761, "t": 43.805, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.7500000000019185}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8761, "t": 43.805, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.7500000000019185}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 8761, "t": 43.805, "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": 8761, "t": 43.805, "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": 8761, "t": 43.805, "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": 9181, "t": 45.905, "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": 9181, "t": 45.905, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 9181, "t": 45.905, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 9181, "t": 45.905, "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": 9181, "t": 45.905, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 9181, "t": 45.905, "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": 9763, "t": 48.815, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 33, "step": 11468, "t": 57.34, "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": 11468, "t": 57.34, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 11468, "t": 57.34, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 11468, "t": 57.34, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c4_p002_e018/env.mp4 b/episodes/c4_p002_e018/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..45a4ea22127cf853e7d7acd0859998444c5160fe --- /dev/null +++ b/episodes/c4_p002_e018/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff3aaa0d0fdd377e6d82e807fb85727938d984017e120ea0cd6e6672ffa5abce +size 1302692 diff --git a/episodes/c4_p002_e018/meta.json b/episodes/c4_p002_e018/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2e11b2075e20cb39494b727d49a8e678eaa52225 --- /dev/null +++ b/episodes/c4_p002_e018/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p002/magicsim/18", + "fps": 25, + "frames": 1248, + "kept_ticks": "even", + "video_frames": { + "wrist": 1248, + "env": 1248 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c4_p002_e018/scene_snapshot.json b/episodes/c4_p002_e018/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..e59deb9ec344d335d15ecf01beef81c161edf7d2 --- /dev/null +++ b/episodes/c4_p002_e018/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 18, + "env_id": 1, + "run_id": "c4_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 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_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 0.5296335220336914, + 0.1062154769897461, + 0.8999999761581421 + ], + "ori": [ + -0.6987637877464294, + 0.0, + 0.0, + 0.715352475643158 + ], + "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": [ + 4.373415692093818e-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": 0.29545232328051496, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.04564015084531586, + "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": 0.29545232328051496, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.2223987579345703, + 1.1499948501586914, + 0.8999999761581421 + ], + "ori": [ + 3.969878162024543e-05, + -6.483647396748893e-09, + -1.9179531296487085e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.505029848113963e-11, + -7.704161752997152e-10, + 0.0 + ], + "angular_velocity": [ + 7.663645362754323e-08, + 1.4092285560707296e-08, + -6.113540340635382e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1434621810913086, + 1.1344451904296875, + 0.8999999761581421 + ], + "ori": [ + -0.12238920480012894, + -1.6760688836825466e-08, + 8.006070473243199e-09, + 0.9924822449684143 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5886320037239443e-10, + 7.008621460968811e-10, + 0.0 + ], + "angular_velocity": [ + -5.145911785575663e-08, + 1.8962662551302856e-08, + 2.3533919257801017e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6620759963989258, + 0.6475095748901367, + 0.8999999761581421 + ], + "ori": [ + 0.8535865545272827, + -5.618798759599031e-09, + 9.187329119697552e-09, + 0.5209510326385498 + ], + "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": [ + -8.429089093375808e-10, + 3.075449617195858e-10, + 0.0 + ], + "angular_velocity": [ + -2.217742434140746e-08, + -5.5110952246195666e-08, + 2.513738106557639e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.10456275939941406, + 0.4479541778564453, + 0.8999999761581421 + ], + "ori": [ + 0.9998878836631775, + 2.880732763443916e-09, + 1.1410243860865421e-09, + 0.01497287955135107 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.747956250383822e-09, + -7.01373403799721e-09, + 2.9802322387695312e-08 + ], + "angular_velocity": [ + 3.3185435199811764e-07, + -4.0761619857221376e-07, + -4.6666031039421796e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -0.2131662368774414, + 1.141026496887207, + 0.9179999828338623 + ], + "ori": [ + 0.03467994183301926, + -7.009472113850279e-09, + -1.7436025956385492e-09, + 0.9993984699249268 + ], + "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": [ + 2.070444438118102e-08, + 6.499150995153968e-09, + 1.0058283805847168e-07 + ], + "angular_velocity": [ + -7.149814678086841e-07, + 1.6335945929313311e-06, + 5.865876318011942e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.1480998992919922, + 1.130223274230957, + 0.9180000424385071 + ], + "ori": [ + -0.08097121864557266, + -1.7451073475172052e-08, + 5.6348836707798e-09, + 0.9967164993286133 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.883562526065589e-09, + 2.9704956716614106e-08, + -5.315989255905151e-06 + ], + "angular_velocity": [ + -1.123413994719158e-06, + 1.2290088307054248e-06, + -7.152794267994977e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.6628036499023438, + 0.6511192321777344, + 0.9179999828338623 + ], + "ori": [ + 0.8794960379600525, + -6.5307501628808495e-09, + 8.422929909102095e-09, + 0.47590625286102295 + ], + "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": [ + -2.1889956514087316e-08, + -7.985901717688648e-09, + -5.751848220825195e-06 + ], + "angular_velocity": [ + 1.3293736174091464e-06, + -4.4359097728374763e-07, + 1.4123504854524072e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.09956645965576172, + 0.4442262649536133, + 0.9179999828338623 + ], + "ori": [ + 0.9999831318855286, + 3.803806158941825e-09, + 7.046939698440724e-10, + -0.005812183488160372 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1339111694042003e-07, + -4.9771280430377374e-08, + 2.4586915969848633e-07 + ], + "angular_velocity": [ + 8.907484243536601e-07, + -4.304301910451613e-06, + 3.843722851115672e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 7.579999999999861, + "step": 1516, + "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": 4.373415692093818e-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": 0.29545232328051496, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1397, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.3723987638950348, + 0.6999948620796204, + 0.0 + ], + "carrier_2": [ + -1.293462187051773, + 0.6844452023506165, + 0.0 + ], + "carrier_3": [ + 1.5120759904384613, + 0.19750958681106567, + 0.0 + ], + "carrier_4": [ + -0.045437246561050415, + -0.0020458102226257324, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.04101217427203385, + -0.11025560883687952, + 2.884567161234446 + ], + "ori": [ + -13.132212695940522, + 3.8058311696051597, + -18.22909089749347 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5030.867734739538, + "color": [ + 0.9904866260981522, + 0.8827193263255113, + 0.9999936011732949 + ], + "intensity": 13287.638151142994, + "width": 2.591683227610101, + "height": 1.6065863451880742 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.21228928659911506, + -0.0835145412329763, + 1.703229085673366 + ], + "ori": [ + 25.52587891485514, + 15.85062941542028, + -20.592250022425567 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3958.663201929872, + "color": [ + 0.9928662211877163, + 0.9655753548782368, + 0.902741454418523 + ], + "intensity": 9165.349396779759, + "radius": 0.22321330166556297 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 381.93965400579907, + "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 + ], + [ + 0.9141060709953308, + -1.719395399093628, + 2.090498208999634, + -1.9419009685516357, + -1.5707999467849731, + 2.4849023818969727, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 1.3950645923614502, + -1.8442955017089844, + 2.2040743827819824, + -1.9308634996414185, + -1.5707769393920898, + 3.0615994930267334, + 0.008680698461830616, + 0.006481122225522995 + ], + [ + 1.1389657258987427, + -1.5023689270019531, + 2.0971646308898926, + -2.166079521179199, + -1.5708271265029907, + 2.5856165885925293, + 0.007885953411459923, + 0.007142125628888607 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 2.2436392900581973e-38, + 0.0, + 1.6552770847510614e-38, + -5.065314589013952e-37, + 3.864371761248508e-37, + -2.7544552638558165e-37, + 5.1980777016069624e-08, + -5.19807805687833e-08 + ], + [ + 0.0737362951040268, + -0.05230569839477539, + 0.006076401099562645, + 0.04253479093313217, + 0.00025512470165267587, + 0.06401633471250534, + -0.0033768038265407085, + 0.0003325811121612787 + ], + [ + 0.0005111275240778923, + 0.0008738377946428955, + 0.0025654048658907413, + -0.0006972216651774943, + 0.0005758822662755847, + 0.002442955505102873, + -0.004171569831669331, + 4.507447010837495e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05330722779035568, + -0.0011107925092801452, + -0.031794626265764236, + -0.28162670135498047, + 0.6537185311317444, + 0.6425848603248596, + -0.2835898697376251 + ], + [ + 0.05267709121108055, + 0.003303456585854292, + -0.028997866436839104, + -0.27780434489250183, + 0.6577233076095581, + 0.6413210034370422, + -0.280948668718338 + ], + [ + 0.046823419630527496, + -0.001436308491975069, + -0.026722246780991554, + -0.28710758686065674, + 0.6407161951065063, + 0.657686710357666, + -0.2729472219944 + ], + [ + 0.05072806403040886, + 0.003041778225451708, + -0.032608650624752045, + -0.27398890256881714, + 0.6566675901412964, + 0.6466643214225769, + -0.27485090494155884 + ] + ], + "camera1": [ + [ + 0.06799137592315674, + 0.5805333852767944, + 1.956607460975647, + 0.044886380434036255, + 0.01054947916418314, + 0.2796475887298584, + 0.9589948654174805 + ], + [ + 0.045494578778743744, + 0.5663745403289795, + 1.9324513673782349, + 0.04075014591217041, + 0.01848364807665348, + 0.28104737401008606, + 0.9586501717567444 + ], + [ + 0.05816757678985596, + 0.5959747433662415, + 1.9697424173355103, + 0.052000969648361206, + 0.025135990232229233, + 0.266117662191391, + 0.96220862865448 + ], + [ + 0.02519400417804718, + 0.5662321448326111, + 1.9400368928909302, + 0.02740968018770218, + 0.018826903775334358, + 0.2785038948059082, + 0.9598592519760132 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p002_e018/wrist.mp4 b/episodes/c4_p002_e018/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..61a94c618098cce9857e8615d7a56da294225500 --- /dev/null +++ b/episodes/c4_p002_e018/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93298335ca7783632c397a634b7eb7d6b4016e30e5f8e40bfc3abf1c11bc276b +size 7298197 diff --git a/episodes/c4_p002_e019/data.npz b/episodes/c4_p002_e019/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..c6c948db2bc768e3c2095e646478a40293ae159e --- /dev/null +++ b/episodes/c4_p002_e019/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37f33ad691ce760c995de82c5c806aee0a957e304f293c2b11f4a336fb03a49a +size 192079 diff --git a/episodes/c4_p002_e019/device_events.jsonl b/episodes/c4_p002_e019/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d7036db8c7d0f1575a437592095d919734457e7 --- /dev/null +++ b/episodes/c4_p002_e019/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 84, "t": 0.42, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 84, "t": 0.42, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 89, "t": 0.445, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6357, "t": 31.785, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6968, "t": 34.84, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 6, "step": 6968, "t": 34.84, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.9625215524228614}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6968, "t": 34.84, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 8, "step": 6968, "t": 34.84, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 9, "step": 6968, "t": 34.84, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 10, "step": 7387, "t": 36.935, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 7387, "t": 36.935, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 7387, "t": 36.935, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 7387, "t": 36.935, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7387, "t": 36.935, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7387, "t": 36.935, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7387, "t": 36.935, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 17, "step": 7387, "t": 36.935, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 18, "step": 7387, "t": 36.935, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.9625215524228614}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 8180, "t": 40.9, "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": 8180, "t": 40.9, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.9650000000020285}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8180, "t": 40.9, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.9650000000020285}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8180, "t": 40.9, "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": 8180, "t": 40.9, "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": 8180, "t": 40.9, "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": 8600, "t": 43.0, "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": 8600, "t": 43.0, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.0558029440186374e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8600, "t": 43.0, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.0558029440186374e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8600, "t": 43.0, "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": 8600, "t": 43.0, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8600, "t": 43.0, "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": 9179, "t": 45.895, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 10908, "t": 54.54, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 33, "step": 10908, "t": 54.54, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 10908, "t": 54.54, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10908, "t": 54.54, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c4_p002_e019/env.mp4 b/episodes/c4_p002_e019/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0f50c0d7d734a6add8a5a0fc63e3c26ede216f76 --- /dev/null +++ b/episodes/c4_p002_e019/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a3e2f02d96857f265a2e6166531abf3ad2ff1bfce00a56d360929820011f6e9 +size 1387685 diff --git a/episodes/c4_p002_e019/meta.json b/episodes/c4_p002_e019/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b0f32585f3fb6c06abeeb67cb4cb1078073779c1 --- /dev/null +++ b/episodes/c4_p002_e019/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p002/magicsim/19", + "fps": 25, + "frames": 1261, + "kept_ticks": "even", + "video_frames": { + "wrist": 1261, + "env": 1261 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c4_p002_e019/scene_snapshot.json b/episodes/c4_p002_e019/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..65e386d80b3ecb71ed15b60a56295894f9f4a45a --- /dev/null +++ b/episodes/c4_p002_e019/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 19, + "env_id": 0, + "run_id": "c4_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5132904052734375, + 0.09563636779785156, + 0.8999999761581421 + ], + "ori": [ + -0.7040147185325623, + 0.0, + 0.0, + 0.7101854085922241 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.3456661999977637e-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": 0.29089733243594373, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.018160380885189675, + "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": 0.29089733243594373, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.641737937927246, + 0.988347053527832, + 0.8999999761581421 + ], + "ori": [ + 0.4887846112251282, + -1.4788919422414892e-08, + 4.78557904415311e-09, + 0.8724045157432556 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.6170906270172054e-09, + -4.772346962056417e-10, + 0.0 + ], + "angular_velocity": [ + 1.5693300881025607e-08, + 4.748812898469623e-09, + -4.4240209717827383e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.42479705810546875, + 1.1499958038330078, + 0.8999999761581421 + ], + "ori": [ + 5.782470543636009e-05, + 3.5961408850759824e-10, + 1.9483789581720146e-12, + 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": [ + -1.2576306662737124e-10, + -7.362364051743953e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -3.394242753529397e-08, + -6.313658929002486e-09, + 9.35479427255359e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1318349838256836, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -3.030478645804635e-10, + 1.2591118148108649e-09, + -1.318236900260672e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.805633503299987e-11, + 1.4549083049431033e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -5.4280341998946824e-08, + 4.982224410809977e-09, + -5.345568876435891e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.227503776550293, + 0.4996805191040039, + 0.8999999761581421 + ], + "ori": [ + -0.9637041091918945, + 7.748140973262707e-08, + -1.250874532843227e-07, + 0.2669728398323059 + ], + "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": [ + -1.5155592336668633e-08, + -2.5102224299189402e-08, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 3.6070559872314334e-07, + -1.0391340765636414e-06, + -3.0615058221883373e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.6421403884887695, + 0.9783201217651367, + 0.9179999828338623 + ], + "ori": [ + 0.4338381290435791, + -1.038526988850208e-07, + -5.7050982604778255e-08, + 0.9009908437728882 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.655797844563494e-07, + -2.437932380416896e-06, + -1.029670238494873e-05 + ], + "angular_velocity": [ + 0.00011210529191885144, + -9.11714305402711e-05, + 1.0621146429912187e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.4388008117675781, + 1.157705307006836, + 0.9180000424385071 + ], + "ori": [ + -0.008419460617005825, + 1.5418587240301207e-10, + 5.264173541519312e-10, + 0.9999645352363586 + ], + "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": [ + 1.307017782892217e-08, + -1.775875091425405e-08, + -4.947185516357422e-06 + ], + "angular_velocity": [ + 6.428989252071915e-08, + 1.146382146544056e-06, + 1.1643636099734067e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.1357259750366211, + 0.43875598907470703, + 0.9180000424385071 + ], + "ori": [ + 0.9952636957168579, + -7.404635238295043e-10, + 1.3652874386593794e-09, + -0.09721200168132782 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4393301661641544e-08, + 2.1385357484859924e-08, + -5.848705768585205e-06 + ], + "angular_velocity": [ + -4.254442842466233e-07, + -1.823875095396943e-06, + 1.0490792590189812e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.223597526550293, + 0.490997314453125, + 0.9179999828338623 + ], + "ori": [ + -0.9324724078178406, + 9.2749033342443e-08, + -1.0071137523937068e-07, + 0.3612411916255951 + ], + "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": [ + -2.8919703254359774e-07, + 5.851882178831147e-08, + -1.1362135410308838e-06 + ], + "angular_velocity": [ + -8.155619070748799e-06, + -1.6055189917096868e-05, + -9.16753378987778e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 4.259999999999931, + "step": 852, + "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": 1.3456661999977637e-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": 0.29089733243594373, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 767, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.4917379319667816, + 0.538347065448761, + 0.0 + ], + "carrier_2": [ + 0.2747970521450043, + 0.6999958157539368, + 0.0 + ], + "carrier_3": [ + -0.018165022134780884, + 7.748603820800781e-07, + 0.0 + ], + "carrier_4": [ + -1.3775037825107574, + 0.04968053102493286, + 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": [ + -0.22093210298515914, + -0.4185550426105834, + 2.9361951939019053 + ], + "ori": [ + 5.82553345384537, + 12.171254414663945, + 28.093974153693175 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6561.354613612821, + "color": [ + 0.877802120317916, + 0.822589765356271, + 0.9286066047295287 + ], + "intensity": 6304.715958854713, + "width": 1.932854496317589, + "height": 1.1617753816973266 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.0824392589049028, + 0.23275594749429485, + 2.206552918572626 + ], + "ori": [ + -7.271284258177161, + -2.9465741902962037, + 32.3402644692347 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4286.154371450979, + "color": [ + 0.8010194939616364, + 0.804296029800819, + 0.7592747166311924 + ], + "intensity": 4813.420659143386, + "radius": 0.21383710565321873 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 381.93965400579907, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141026139259338, + -1.719397783279419, + 2.09049916267395, + -1.9419007301330566, + -1.5707999467849731, + 2.484901189804077, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.8066290616989136, + -1.2276283502578735, + 2.131234884262085, + -2.4743993282318115, + -1.5708186626434326, + 2.389000654220581, + 0.007777080871164799, + 0.0071903420612216 + ], + [ + 2.780374050140381, + -1.7432936429977417, + 1.961787462234497, + -1.7893893718719482, + -1.57113778591156, + 4.349969863891602, + 0.007751696743071079, + 0.006936528254300356 + ], + [ + 2.5392863750457764, + -2.129762649536133, + 2.5510358810424805, + -1.9918324947357178, + -1.5730159282684326, + 4.1092329025268555, + 0.0076543721370399, + 0.0068634976632893085 + ] + ], + "joint_vel": [ + [ + -2.2225000020746253e-38, + 1.5977369672089558e-38, + 0.0, + 6.431759061103065e-37, + -2.809759021152737e-37, + -6.834776983597968e-37, + 5.545211556793537e-38, + -4.4819051610250947e-38 + ], + [ + 0.00028275494696572423, + -0.013665476813912392, + -0.0046515027061104774, + 0.016578881070017815, + 0.0010309657081961632, + 0.0030608379747718573, + -0.007144546136260033, + 0.0003144099609926343 + ], + [ + 0.006537116132676601, + 0.02213701792061329, + -0.017848806455731392, + -0.004345079883933067, + -0.001174939563497901, + 0.009740176610648632, + -0.010232136584818363, + 0.0003339131362736225 + ], + [ + 0.02142617106437683, + 0.03978876397013664, + -0.014881078153848648, + -0.025267284363508224, + -0.000782545655965805, + 0.024016257375478745, + -0.010127886198461056, + 0.00029256840934976935 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05123669654130936, + -0.0020700213499367237, + -0.03371740132570267, + -0.28777891397476196, + 0.6532225012779236, + 0.6420851945877075, + -0.2796609699726105 + ], + [ + 0.05360634624958038, + 0.004046529997140169, + -0.027910016477108, + -0.27394866943359375, + 0.6544905304908752, + 0.6451677680015564, + -0.28346574306488037 + ], + [ + 0.04661174118518829, + -0.00322965276427567, + -0.028523271903395653, + -0.28531649708747864, + 0.6396946310997009, + 0.6601660847663879, + -0.27123045921325684 + ], + [ + 0.05145031586289406, + 0.0005562071455642581, + -0.03175194188952446, + -0.2761631906032562, + 0.6538642644882202, + 0.6506186127662659, + -0.26998308300971985 + ] + ], + "camera1": [ + [ + 0.06799137592315674, + 0.5805333852767944, + 1.956607460975647, + 0.044886380434036255, + 0.01054947916418314, + 0.2796475887298584, + 0.9589948654174805 + ], + [ + 0.045494578778743744, + 0.5663745403289795, + 1.9324513673782349, + 0.04075014591217041, + 0.01848364807665348, + 0.28104737401008606, + 0.9586501717567444 + ], + [ + 0.05816757678985596, + 0.5959747433662415, + 1.9697424173355103, + 0.052000969648361206, + 0.025135990232229233, + 0.266117662191391, + 0.96220862865448 + ], + [ + 0.02519400417804718, + 0.5662321448326111, + 1.9400368928909302, + 0.02740968018770218, + 0.018826903775334358, + 0.2785038948059082, + 0.9598592519760132 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p002_e019/wrist.mp4 b/episodes/c4_p002_e019/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..86b55b002313e3d3b5b873b523d0fc7c4e8a8eca --- /dev/null +++ b/episodes/c4_p002_e019/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d18a95468d32efef8c0c3ea9173446876f751c68bcdefa99febdf2758ab3d511 +size 7747005 diff --git a/episodes/c5_p000_e000/data.npz b/episodes/c5_p000_e000/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..96bead6100c865ba15f1f2a791597d5192ab873c --- /dev/null +++ b/episodes/c5_p000_e000/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63389a867dec1a57e0c16da17ed283698b4a08c5bc49a52acc67728a09f2dd3e +size 185165 diff --git a/episodes/c5_p000_e000/device_events.jsonl b/episodes/c5_p000_e000/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ed4fb6c28bb50b5d81ad04456d646037f6ce6668 --- /dev/null +++ b/episodes/c5_p000_e000/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 191, "t": 0.955, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 191, "t": 0.955, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 196, "t": 0.98, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 963, "t": 4.815, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 5650, "t": 28.25, "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": 6264, "t": 31.32, "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": 6264, "t": 31.32, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.1511198975061454}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6264, "t": 31.32, "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": 6264, "t": 31.32, "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": 6264, "t": 31.32, "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": 6683, "t": 33.415, "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": 6683, "t": 33.415, "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": 6683, "t": 33.415, "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": 6683, "t": 33.415, "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": 6683, "t": 33.415, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 6683, "t": 33.415, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 6683, "t": 33.415, "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": 6683, "t": 33.415, "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": 6683, "t": 33.415, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.1511198975061454}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 7114, "t": 35.57, "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": 7114, "t": 35.57, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.1550000000011025}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7114, "t": 35.57, "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": 2.1550000000011025}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7114, "t": 35.57, "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": 7114, "t": 35.57, "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": 7114, "t": 35.57, "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": 7534, "t": 37.67, "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": 7534, "t": 37.67, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.728338810240263e-12}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 7534, "t": 37.67, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.728338810240263e-12}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 7534, "t": 37.67, "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": 7534, "t": 37.67, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 7534, "t": 37.67, "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": 8116, "t": 40.58, "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": 9840, "t": 49.2, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 9840, "t": 49.2, "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": 9840, "t": 49.2, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 9840, "t": 49.2, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p000_e000/env.mp4 b/episodes/c5_p000_e000/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fa80fc869f66430f8021e236e667a2de169d9cc7 --- /dev/null +++ b/episodes/c5_p000_e000/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4923d1fd7d4d69d9657952662d19470e6599a05a735183c291e54f8f7c977e90 +size 1276675 diff --git a/episodes/c5_p000_e000/meta.json b/episodes/c5_p000_e000/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..937d2cb310622fd68f74174ad1b92fbbe7ea0eb0 --- /dev/null +++ b/episodes/c5_p000_e000/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/0", + "fps": 25, + "frames": 1178, + "kept_ticks": "even", + "video_frames": { + "wrist": 1178, + "env": 1178 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e000/scene_snapshot.json b/episodes/c5_p000_e000/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..0ed9194157315749188f4a522dcf770b7c01d6a2 --- /dev/null +++ b/episodes/c5_p000_e000/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 0, + "env_id": 2, + "run_id": "c5_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.018499083156211e-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": 0.15762390198698684, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.0352616599437926, + "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": 0.15762390198698684, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.199967384338379, + 0.4857330322265625, + 0.8999999761581421 + ], + "ori": [ + -0.9740569591522217, + -4.6121090946371623e-08, + -2.3177289421028036e-08, + 0.22630316019058228 + ], + "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": [ + 3.7061909097246826e-11, + 2.5994495445047505e-10, + 0.0 + ], + "angular_velocity": [ + -2.172600943595171e-08, + 3.1213858164846897e-09, + 1.9667822925839573e-11 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1153554916381836, + 0.45000362396240234, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.07760564308046e-09, + -5.736781716336736e-09, + 1.6441814295831136e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2470604549008613e-09, + 1.2798258008928087e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -7.752839081831553e-08, + 1.1531140842180321e-07, + -1.223070622557998e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6264238357543945, + 0.5901813507080078, + 0.8999999761581421 + ], + "ori": [ + 0.897135853767395, + 1.1664040400205522e-08, + -1.0913493042608025e-07, + 0.44175466895103455 + ], + "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": [ + -5.325944130163407e-09, + -2.0492620933509897e-09, + 4.0978193283081055e-08 + ], + "angular_velocity": [ + 2.7997884899377823e-07, + -4.894027370028198e-07, + -1.0902567737502977e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.32521915435791016, + 1.1523427963256836, + 0.8999999761581421 + ], + "ori": [ + 0.007253897376358509, + -7.559177728211353e-10, + 7.384094447004941e-10, + 0.9999737739562988 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.112150868238132e-10, + -2.0706831804773174e-09, + 0.0 + ], + "angular_velocity": [ + 2.188413077419682e-07, + -1.851594788604416e-08, + -1.4609053522463e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.19598388671875, + 0.47713565826416016, + 0.9179999828338623 + ], + "ori": [ + -0.9658860564231873, + -4.2115388509955665e-08, + -2.1542277295338863e-08, + 0.2589676082134247 + ], + "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": [ + -1.8729679140960798e-08, + 2.820593181240838e-08, + 8.940696716308594e-08 + ], + "angular_velocity": [ + -9.977666195482016e-07, + -1.588501618243754e-06, + 6.884465619805269e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.10474014282226562, + 0.44251251220703125, + 0.9180000424385071 + ], + "ori": [ + 0.9970357418060303, + 6.997169510469803e-11, + -3.5881919657754224e-09, + 0.07694105803966522 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.6296520516666533e-09, + 1.1350815398714076e-08, + -5.0514936447143555e-06 + ], + "angular_velocity": [ + 6.237343654902361e-07, + -1.6379776752728503e-06, + -1.1029617041913298e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.6207284927368164, + 0.5833263397216797, + 0.9180000424385071 + ], + "ori": [ + 0.8469266891479492, + -2.6175663858651887e-09, + -1.1335779959154024e-07, + 0.531709611415863 + ], + "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": [ + -1.0347639545216225e-07, + -4.321225333114853e-08, + 3.427267074584961e-07 + ], + "angular_velocity": [ + 5.3151234169490635e-06, + -1.7672136891633272e-06, + 3.9331212065008003e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.3205299377441406, + 1.1463031768798828, + 0.9179999828338623 + ], + "ori": [ + -0.04567188769578934, + -1.6156636029052152e-09, + 6.869758095717771e-10, + 0.9989565014839172 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.3548678380366255e-08, + 1.0234092684413554e-08, + -1.5795230865478516e-06 + ], + "angular_velocity": [ + -6.412634547814378e-07, + 2.0072670849913266e-06, + 1.1821099121789302e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 2.359999999999972, + "step": 472, + "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": 2.018499083156211e-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": 0.15762390198698684, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 280, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.3499673902988434, + 0.035733044147491455, + 0.0 + ], + "carrier_2": [ + -0.034644514322280884, + 3.635883331298828e-06, + 0.0 + ], + "carrier_3": [ + 1.47642382979393, + 0.14018136262893677, + 0.0 + ], + "carrier_4": [ + 0.17521914839744568, + 0.7023428082466125, + 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": [ + 0.7277507870850263, + 0.5419221938788885, + 3.074608495635918 + ], + "ori": [ + -9.928418073976127, + -12.110181507718101, + 4.340406129781989 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3216.754173088947, + "color": [ + 0.9282071898069005, + 0.8758187256003003, + 0.9922465673025085 + ], + "intensity": 5271.674772855219, + "width": 1.6648178863007295, + "height": 0.9654557603243041 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.3189072621519737, + 1.1262001254159182, + 2.7131106048811064 + ], + "ori": [ + 5.711207544917542, + -25.46119873339901, + 17.71109595080992 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4106.338044999294, + "color": [ + 0.9249694833520226, + 0.8421922914646806, + 0.9140421106310608 + ], + "intensity": 8978.156921553556, + "radius": 0.1655010564372048 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 641.3318422246905, + "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": [ + [ + 1.141722321510315, + -1.5233014822006226, + 2.183830976486206, + -2.2313005924224854, + -1.5707658529281616, + 2.7007639408111572, + 0.018000047653913498, + 0.017999950796365738 + ], + [ + 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 + ], + [ + 0.8742951154708862, + -1.6070886850357056, + 2.0394253730773926, + -2.0030832290649414, + -1.5708012580871582, + 2.4210681915283203, + 0.018001392483711243, + 0.017998619005084038 + ] + ], + "joint_vel": [ + [ + -7.539954094681889e-05, + 0.013920137658715248, + 0.010334269143640995, + -0.023113828152418137, + -7.54417169446242e-06, + 4.730813088826835e-05, + -5.916684131079819e-06, + 5.918253009440377e-06 + ], + [ + 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, + 1.6446319132945586e-12, + 1.6100367566940221e-12, + -3.405976030990132e-06, + -3.4059778499795357e-06, + 7.674151028189136e-13, + 2.3966888044492374e-13, + 5.461085346414839e-14 + ], + [ + -0.014456897974014282, + 0.04008445888757706, + -0.01722988858819008, + -0.02080388553440571, + -4.190452818875201e-05, + -0.021705586463212967, + 4.330831143306568e-05, + -4.346551941125654e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05287878215312958, + 0.0017519925022497773, + -0.031006569042801857, + -0.2886945605278015, + 0.637515127658844, + 0.6561408638954163, + -0.2823280096054077 + ], + [ + 0.051255013793706894, + -0.0011150765931233764, + -0.029938288033008575, + -0.27424246072769165, + 0.6557303071022034, + 0.6464086771011353, + -0.27742502093315125 + ], + [ + 0.05310986563563347, + 0.0013820088934153318, + -0.033914484083652496, + -0.27563634514808655, + 0.6563647985458374, + 0.6413841843605042, + -0.28607016801834106 + ], + [ + 0.05014388635754585, + -0.00029698529397137463, + -0.03172793984413147, + -0.29116231203079224, + 0.6440262794494629, + 0.6511191129684448, + -0.2765837609767914 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e000/wrist.mp4 b/episodes/c5_p000_e000/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..500b6cf5fda80c5d6be10b2e6b3f4be2631878d2 --- /dev/null +++ b/episodes/c5_p000_e000/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9d78cbe10a95eff9dc12e2a64199bdc85e6bc801f70becde199cdb86d503c83 +size 6268908 diff --git a/episodes/c5_p000_e001/data.npz b/episodes/c5_p000_e001/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..d497c218d9f6179057d564ea0c8f35b8b90c9a76 --- /dev/null +++ b/episodes/c5_p000_e001/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c15b8962edeef7d0a8b088c229c9bbc2f6c57d88a17224c364bcdb9490978efa +size 181341 diff --git a/episodes/c5_p000_e001/device_events.jsonl b/episodes/c5_p000_e001/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4bc87429105821e62d9784ce445b95c962b39d27 --- /dev/null +++ b/episodes/c5_p000_e001/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 3, "seq": 1, "step": 86, "t": 0.43, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 86, "t": 0.43, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 91, "t": 0.455, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 873, "t": 4.365, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 1021, "t": 5.105, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 5442, "t": 27.21, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 6056, "t": 30.28, "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": 8, "step": 6056, "t": 30.28, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.4853514314841822}, "cause": "task-3-1"} +{"env_id": 3, "seq": 9, "step": 6056, "t": 30.28, "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": 10, "step": 6056, "t": 30.28, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 6056, "t": 30.28, "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": 12, "step": 6475, "t": 32.375, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 13, "step": 6475, "t": 32.375, "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": 14, "step": 6475, "t": 32.375, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 6475, "t": 32.375, "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": 16, "step": 6475, "t": 32.375, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 6475, "t": 32.375, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 18, "step": 6475, "t": 32.375, "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": 19, "step": 6475, "t": 32.375, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 6475, "t": 32.375, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.4853514314841822}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7173, "t": 35.865, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 22, "step": 7173, "t": 35.865, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.4900000000017855}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 7173, "t": 35.865, "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": 3.4900000000017855}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 24, "step": 7173, "t": 35.865, "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": 25, "step": 7173, "t": 35.865, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 7173, "t": 35.865, "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": 27, "step": 7593, "t": 37.965, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 28, "step": 7593, "t": 37.965, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.6294730282039325e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 7593, "t": 37.965, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.6294730282039325e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 7593, "t": 37.965, "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": 31, "step": 7593, "t": 37.965, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 32, "step": 7593, "t": 37.965, "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": 33, "step": 8175, "t": 40.875, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 34, "step": 9836, "t": 49.18, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 9836, "t": 49.18, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 36, "step": 9836, "t": 49.18, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 37, "step": 9836, "t": 49.18, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p000_e001/env.mp4 b/episodes/c5_p000_e001/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cc30a14d970f9be3b18764cdcdf2891467273b30 --- /dev/null +++ b/episodes/c5_p000_e001/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed7155e94e5c73ea3355fe49b0cbe545d91edc2602584d73fb58d379f9704823 +size 1428286 diff --git a/episodes/c5_p000_e001/meta.json b/episodes/c5_p000_e001/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f8c618e2eee762c6cd71cbc6cc2c54d7246b6766 --- /dev/null +++ b/episodes/c5_p000_e001/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/1", + "fps": 25, + "frames": 1188, + "kept_ticks": "even", + "video_frames": { + "wrist": 1188, + "env": 1188 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e001/scene_snapshot.json b/episodes/c5_p000_e001/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..884c6edc03ed297096d170adbd60efcbb33d1b64 --- /dev/null +++ b/episodes/c5_p000_e001/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 1, + "env_id": 3, + "run_id": "c5_p000", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.018499083156211e-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": 0.15096005178906094, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.01749058120737118, + "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": 0.15096005178906094, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.13275146484375, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 5.283501192110407e-09, + 6.445570743807139e-10, + -1.1311149137327448e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2361200951716e-09, + 5.752122111957192e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 2.2091789730893652e-08, + 1.1078294903654751e-07, + -2.399529996921501e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6805601119995117, + 0.6879425048828125, + 0.8999999761581421 + ], + "ori": [ + 0.8131825923919678, + -2.2115536069122754e-08, + -1.4380596269347734e-07, + 0.5820087790489197 + ], + "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": [ + 5.660228730164363e-09, + 3.224598366102782e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -4.9744677710350516e-08, + 2.3727716325083748e-07, + 4.162403044460916e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2398080825805664, + 0.5071392059326172, + 0.8999999761581421 + ], + "ori": [ + -0.9588501453399658, + 2.739154325581694e-08, + 2.9289715541835903e-08, + 0.2839128375053406 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.444877964639772e-10, + 2.5384956359175703e-09, + -7.450580596923828e-09 + ], + "angular_velocity": [ + -8.796941131095082e-08, + -7.23282909120826e-08, + -1.9579653454115942e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3649005889892578, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + 2.126063009200152e-05, + 1.0062418259737527e-10, + -1.9107997406564436e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.510436303282404e-12, + -9.197925754378389e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 8.099810600015189e-08, + 2.2002367927598243e-08, + -5.176164386000437e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.13403034210205078, + 0.4514350891113281, + 0.9179999828338623 + ], + "ori": [ + 0.9992457032203674, + 8.285241825944922e-09, + 6.252058870614974e-10, + 0.03883274644613266 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3173772295260733e-08, + -5.625551580124011e-09, + 1.341104507446289e-07 + ], + "angular_velocity": [ + 8.880485893314471e-07, + -1.7605274251764058e-06, + -4.57614746096624e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 1.6757240295410156, + 0.7009067535400391, + 0.9180000424385071 + ], + "ori": [ + 0.8273295164108276, + -2.0372347364627785e-08, + -1.445451545123433e-07, + 0.5617170333862305 + ], + "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": [ + 6.502812510689182e-08, + -2.7954335735103086e-08, + -4.801899194717407e-06 + ], + "angular_velocity": [ + 3.565710812836187e-06, + 1.5846794667595532e-06, + -2.5095550881815143e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.2428092956542969, + 0.5143651962280273, + 0.9180000424385071 + ], + "ori": [ + -0.9392993450164795, + 2.7668114910284203e-08, + 3.074727672469635e-08, + 0.34309884905815125 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5032401989856226e-08, + 1.3979287061260948e-08, + -5.617737770080566e-06 + ], + "angular_velocity": [ + -3.6471936937232385e-07, + -1.5696807622589404e-06, + 3.80288440737786e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.3786935806274414, + 1.1400423049926758, + 0.9179999828338623 + ], + "ori": [ + 0.09640788286924362, + -3.991321939622594e-09, + 2.673265386832213e-09, + 0.9953418970108032 + ], + "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": [ + 3.507053492057821e-08, + 2.343564098339357e-08, + -3.2410025596618652e-06 + ], + "angular_velocity": [ + -9.870865369521198e-07, + 1.6227658079515095e-06, + 2.0798877287120376e-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": 1.9599999999999802, + "step": 392, + "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": 2.018499083156211e-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": 0.15096005178906094, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 305, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.017248541116714478, + 7.748603820800781e-07, + 0.0 + ], + "carrier_2": [ + 1.5305601060390472, + 0.23794251680374146, + 0.0 + ], + "carrier_3": [ + -1.3898080885410309, + 0.05713921785354614, + 0.0 + ], + "carrier_4": [ + 0.21490058302879333, + 0.6999996304512024, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.7781540268099717, + -0.43191020753524617, + 2.617084652535925 + ], + "ori": [ + -13.782226351570618, + -6.669689042753266, + 2.774509242347982 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5337.866746703284, + "color": [ + 0.9235826430689027, + 0.9184583841024124, + 0.8765560063192526 + ], + "intensity": 9244.52560296798, + "width": 2.163127523379903, + "height": 1.0126480337927526 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.3321427219372615, + 1.0871427084498098, + 2.1430752885017936 + ], + "ori": [ + 27.03627185224488, + -13.774252239477889, + -1.0084337835472326 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6844.557324073584, + "color": [ + 0.8673899340665993, + 0.8117839685571094, + 0.9302753078904907 + ], + "intensity": 2605.1666955983733, + "radius": 0.3774728522327415 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 641.3318422246905, + "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": [ + [ + 1.1236610412597656, + -1.5707823038101196, + 2.1503145694732666, + -2.15030574798584, + -1.570796012878418, + 2.6836211681365967, + 0.01800059899687767, + 0.017999399453401566 + ], + [ + 0.9141010642051697, + -1.719397783279419, + 2.09049916267395, + -1.9419004917144775, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141013622283936, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 0.016793258488178253, + 0.012146415188908577, + 0.0049666427075862885, + -0.016385219991207123, + 3.061174356844276e-05, + 0.01566198468208313, + 1.1578339581319597e-05, + -1.1577322766243014e-05 + ], + [ + 2.3021862405469203e-38, + -1.9620815744257298e-38, + 1.2895017518022117e-38, + -5.7362235594005475e-37, + 5.7705246553141675e-37, + -2.980420941466089e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -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": [ + [ + 0.05017618089914322, + 0.0025714614894241095, + -0.029511701315641403, + -0.29132023453712463, + 0.638644278049469, + 0.654711127281189, + -0.2803914546966553 + ], + [ + 0.04999999701976776, + -0.0011472428450360894, + -0.0320587120950222, + -0.26885101199150085, + 0.6541424989700317, + 0.6472899317741394, + -0.28431040048599243 + ], + [ + 0.049786441028118134, + 0.002134831855073571, + -0.0334211029112339, + -0.27776163816452026, + 0.6579970121383667, + 0.6373047232627869, + -0.28936323523521423 + ], + [ + 0.04888688772916794, + -0.0010503542143851519, + -0.031837884336709976, + -0.2940499782562256, + 0.6451185345649719, + 0.6452704071998596, + -0.2845746576786041 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e001/wrist.mp4 b/episodes/c5_p000_e001/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e94ff1f18bedc2fce5a350119253b4e008950511 --- /dev/null +++ b/episodes/c5_p000_e001/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:375da014c64c868299ee213a3388a657614dfab4deb9020254d73a18f2cfc23e +size 6819884 diff --git a/episodes/c5_p000_e002/data.npz b/episodes/c5_p000_e002/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..6c50dffcfb594b6e49407659d53baead97414511 --- /dev/null +++ b/episodes/c5_p000_e002/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:245a105c3760d6d935b16930003ed731705632612755a47b2502fd70ae89b98f +size 189092 diff --git a/episodes/c5_p000_e002/device_events.jsonl b/episodes/c5_p000_e002/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..afa2cddd1811f1b2a069e561f536f9818c771178 --- /dev/null +++ b/episodes/c5_p000_e002/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 95, "t": 0.475, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 95, "t": 0.475, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 100, "t": 0.5, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 684, "t": 3.42, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 5407, "t": 27.035, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 6020, "t": 30.1, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6020, "t": 30.1, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.313412586017772}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 6020, "t": 30.1, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 9, "step": 6020, "t": 30.1, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 10, "step": 6020, "t": 30.1, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 11, "step": 6439, "t": 32.195, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 12, "step": 6439, "t": 32.195, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 6439, "t": 32.195, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 6439, "t": 32.195, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 6439, "t": 32.195, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 6439, "t": 32.195, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 6439, "t": 32.195, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 18, "step": 6439, "t": 32.195, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 19, "step": 6439, "t": 32.195, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.313412586017772}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 7302, "t": 36.51, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 21, "step": 7302, "t": 36.51, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.3150000000022075}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7302, "t": 36.51, "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": 4.3150000000022075}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 7302, "t": 36.51, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 24, "step": 7302, "t": 36.51, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 25, "step": 7302, "t": 36.51, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 26, "step": 7722, "t": 38.61, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 27, "step": 7722, "t": 38.61, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 7722, "t": 38.61, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 7722, "t": 38.61, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 7722, "t": 38.61, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 7722, "t": 38.61, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 8303, "t": 41.515, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 33, "step": 10092, "t": 50.46, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 10092, "t": 50.46, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 10092, "t": 50.46, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 10092, "t": 50.46, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p000_e002/env.mp4 b/episodes/c5_p000_e002/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..07b40c1266de73aa1548f2f39d98d07bb0b1e5b4 --- /dev/null +++ b/episodes/c5_p000_e002/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae3d1ff462bc2d0e64258ac5d474fae8103c47768d7163a837113ba9f32a2ac6 +size 1202584 diff --git a/episodes/c5_p000_e002/meta.json b/episodes/c5_p000_e002/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b1e73675951fb3a7e7a6188348d3b6be91c3945e --- /dev/null +++ b/episodes/c5_p000_e002/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/2", + "fps": 25, + "frames": 1233, + "kept_ticks": "even", + "video_frames": { + "wrist": 1233, + "env": 1233 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e002/scene_snapshot.json b/episodes/c5_p000_e002/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..a6343b53416f267bb6853ca0d71dd7a5546d4af0 --- /dev/null +++ b/episodes/c5_p000_e002/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 2, + "env_id": 0, + "run_id": "c5_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5240573883056641, + 0.07274436950683594, + 0.8999999761581421 + ], + "ori": [ + -0.6924200057983398, + 0.0, + 0.0, + 0.7214946746826172 + ], + "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": [ + 3.364164415792237e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.26366796200490994, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.23461498503170125, + "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": 0.26366796200490994, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6789474487304688, + 0.9123935699462891, + 0.8999999761581421 + ], + "ori": [ + 0.5901726484298706, + -9.846849025052506e-08, + 5.985876683212155e-09, + 0.8072770833969116 + ], + "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": [ + -3.719425878401239e-10, + 2.6696156396610604e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -5.481899378878552e-08, + -1.3830998568664654e-07, + 1.7462358670172762e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.08492183685302734, + 0.4499988555908203, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.2322525222430158e-09, + 1.0146586904014043e-09, + 6.549238605657592e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1295848700854094e-09, + 1.3388707920114484e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.0331591937529083e-07, + 1.0878296308192148e-07, + -4.927889207806402e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3958797454833984, + 0.832188606262207, + 0.8999999761581421 + ], + "ori": [ + -0.6663299202919006, + -1.7392917328606927e-08, + -1.1247870190800313e-08, + 0.7456570267677307 + ], + "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": [ + -6.549850661841106e-10, + -2.4449914315383126e-11, + 0.0 + ], + "angular_velocity": [ + 1.969300278403807e-09, + -5.5880825300391734e-08, + 4.011990739627436e-11 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.02338409423828125, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + 8.057142258621752e-05, + -5.459475094227173e-10, + 4.506986339691821e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.16486206738864e-09, + -1.0159355579020257e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 6.858118695163284e-08, + -2.1051319265552593e-07, + -9.368545050847388e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.6927928924560547, + 0.9013833999633789, + 0.9179999828338623 + ], + "ori": [ + 0.6139185428619385, + -1.0056072596853483e-07, + -2.4264812381602496e-10, + 0.7893694043159485 + ], + "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": [ + -3.092942790772213e-09, + -1.1287146328697872e-08, + 1.6763806343078613e-07 + ], + "angular_velocity": [ + 1.4596759001506143e-06, + 2.2470403848728893e-07, + 3.672342430149911e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -0.08284187316894531, + 0.44438934326171875, + 0.9180000424385071 + ], + "ori": [ + 0.9999825954437256, + 2.117591213490755e-09, + -3.7019537435512007e-10, + 0.005896886810660362 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0321619114961322e-08, + 9.541397893997328e-09, + -5.003064870834351e-06 + ], + "angular_velocity": [ + 1.1508105899338261e-06, + -2.20475726564473e-06, + -6.155659093565191e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.4069509506225586, + 0.8351840972900391, + 0.9180000424385071 + ], + "ori": [ + -0.6060677766799927, + -1.6790574264291536e-08, + -1.3120133424138203e-08, + 0.7954129576683044 + ], + "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": [ + 7.151559344720226e-10, + 1.508614566603228e-08, + -5.424022674560547e-06 + ], + "angular_velocity": [ + -1.1018998975487193e-06, + 3.612559567045537e-07, + -1.0721805665525608e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.031044960021972656, + 1.143819808959961, + 0.9179999828338623 + ], + "ori": [ + -0.10377109795808792, + -1.913605385261974e-10, + 7.738955254410484e-09, + 0.994601309299469 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3267653642401456e-08, + 5.5148476008071157e-08, + -1.1436641216278076e-06 + ], + "angular_velocity": [ + -3.347389338159701e-06, + 1.727484800539969e-06, + -1.4135564185835392e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 1.3199999999999938, + "step": 264, + "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": 3.364164415792237e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.26366796200490994, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 168, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5289474427700043, + 0.462393581867218, + 0.0 + ], + "carrier_2": [ + -0.23492184281349182, + -1.1324882507324219e-06, + 0.0 + ], + "carrier_3": [ + -1.545879751443863, + 0.382188618183136, + 0.0 + ], + "carrier_4": [ + -0.12661591172218323, + 0.7000005841255188, + 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": [ + 0.8905082174194342, + 0.5308279324081089, + 2.9488096934478 + ], + "ori": [ + -8.995553171646337, + -14.919387216285868, + -18.368076106064827 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3643.2980269698724, + "color": [ + 0.8921555113129194, + 0.8089222855939832, + 0.9939552613757553 + ], + "intensity": 8751.67001971132, + "width": 1.7595977934227325, + "height": 0.8702815195261763 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.3682601810763182, + 0.4600819903929634, + 1.6246211849396857 + ], + "ori": [ + -34.11868670548166, + -27.835645574260532, + -3.7817571942414077 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6327.7109555209845, + "color": [ + 0.8515467226203225, + 0.9517411254846073, + 0.9061935593541057 + ], + "intensity": 9645.254372496187, + "radius": 0.18049224822072665 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 641.3318422246905, + "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": [ + [ + 0.05435808375477791, + 0.001181629253551364, + -0.032448817044496536, + -0.2854441702365875, + 0.6374122500419617, + 0.6560965776443481, + -0.28594493865966797 + ], + [ + 0.051786523312330246, + -0.00019916567543987185, + -0.03232910856604576, + -0.268652081489563, + 0.658077597618103, + 0.6469250321388245, + -0.276130348443985 + ], + [ + 0.052416808903217316, + 0.002858036896213889, + -0.03124638833105564, + -0.27533861994743347, + 0.6582540273666382, + 0.6406083703041077, + -0.28374505043029785 + ], + [ + 0.0497509241104126, + 5.701365807908587e-05, + -0.02992204576730728, + -0.2897211015224457, + 0.6396254301071167, + 0.6535661220550537, + -0.2824753224849701 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e002/wrist.mp4 b/episodes/c5_p000_e002/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b33a7298397e6949ebbd9340880203865075bb75 --- /dev/null +++ b/episodes/c5_p000_e002/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cfcc5de1175eafda0a510230e823c47eafaf02a0cebf171b87c4da08fc2291b5 +size 7049643 diff --git a/episodes/c5_p000_e003/data.npz b/episodes/c5_p000_e003/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..698796808e49efdbcde2f0ae829261bd5ff7d9c9 --- /dev/null +++ b/episodes/c5_p000_e003/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:123f9bdd11956f17c51fb29b70b56c7d9b8c89d7b245f561b539e7e2c41e313f +size 190128 diff --git a/episodes/c5_p000_e003/device_events.jsonl b/episodes/c5_p000_e003/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..27f5131a0508567b18ce5374c42c1e998cea8aa1 --- /dev/null +++ b/episodes/c5_p000_e003/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 113, "t": 0.565, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 113, "t": 0.565, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 118, "t": 0.59, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 2134, "t": 10.67, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6942, "t": 34.71, "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": 7556, "t": 37.78, "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": 7556, "t": 37.78, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.577153741676876}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 7556, "t": 37.78, "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": 7556, "t": 37.78, "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": 7556, "t": 37.78, "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": 7975, "t": 39.875, "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": 7975, "t": 39.875, "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": 7975, "t": 39.875, "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": 7975, "t": 39.875, "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": 7975, "t": 39.875, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7975, "t": 39.875, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 7975, "t": 39.875, "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": 7975, "t": 39.875, "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": 7975, "t": 39.875, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.577153741676876}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 8891, "t": 44.455, "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": 8891, "t": 44.455, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.580000000002343}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8891, "t": 44.455, "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": 4.580000000002343}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 8891, "t": 44.455, "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": 8891, "t": 44.455, "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": 8891, "t": 44.455, "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": 9311, "t": 46.555, "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": 9311, "t": 46.555, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 9311, "t": 46.555, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 9311, "t": 46.555, "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": 9311, "t": 46.555, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 9311, "t": 46.555, "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": 9891, "t": 49.455, "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": 11584, "t": 57.92, "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": 11584, "t": 57.92, "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": 11584, "t": 57.92, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 11584, "t": 57.92, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p000_e003/env.mp4 b/episodes/c5_p000_e003/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c13e20e78970388fe4ad53f8437d16292212a683 --- /dev/null +++ b/episodes/c5_p000_e003/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2e2a3109de623b1ef34e95134097d90832e80c41ee1ee5345339e4b200cf460 +size 1479511 diff --git a/episodes/c5_p000_e003/meta.json b/episodes/c5_p000_e003/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b90c3410fa79131ae52bf80277129b33afe51283 --- /dev/null +++ b/episodes/c5_p000_e003/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/3", + "fps": 25, + "frames": 1259, + "kept_ticks": "even", + "video_frames": { + "wrist": 1259, + "env": 1259 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e003/scene_snapshot.json b/episodes/c5_p000_e003/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..b12b93942fdbfa34af2395d343d0065a122367b3 --- /dev/null +++ b/episodes/c5_p000_e003/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 3, + "env_id": 1, + "run_id": "c5_p000", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5098752975463867, + 0.08571529388427734, + 0.8999999761581421 + ], + "ori": [ + 0.7111824154853821, + 0.0, + 0.0, + -0.7030075192451477 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.719085361538534e-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": 0.2711316999588719, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.0009744010278136539, + "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": 0.2711316999588719, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.692861557006836, + 0.857121467590332, + 0.8999999761581421 + ], + "ori": [ + 0.652945339679718, + 4.914388540555592e-08, + 2.987815150845563e-08, + 0.7574051022529602 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.7541824820787042e-08, + -7.328495144065528e-07, + -3.870576620101929e-06 + ], + "angular_velocity": [ + 5.685769792762585e-05, + -1.7378559959979611e-06, + -3.665977317268698e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.14936065673828125, + 0.4499979019165039, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.142845622112645e-09, + 7.814347502410612e-10, + 3.5561592994781677e-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": [ + 1.3130814213724307e-09, + 2.467602788769341e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.7228387605427997e-09, + 1.2623470979633566e-07, + -8.202400536561072e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.20003032684326172, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + -8.150969733833335e-06, + 1.4083660460073588e-08, + 3.660313385722702e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.909382203687755e-10, + -8.938437767724849e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.8625481601475258e-08, + -8.127427975068713e-08, + -1.848807507087713e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1742010116577148, + 1.1235952377319336, + 0.8999999761581421 + ], + "ori": [ + -0.1737528145313263, + -6.384211559407049e-08, + 1.670664850905723e-08, + 0.9847893118858337 + ], + "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": [ + -1.1339780225938512e-09, + 1.4678429582914987e-09, + 0.0 + ], + "angular_velocity": [ + -1.6680937164892384e-07, + -4.254593477526214e-08, + 8.543383778203406e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 1.696920394897461, + 0.8562994003295898, + 0.9179999828338623 + ], + "ori": [ + 0.58043372631073, + 5.5561947931437317e-08, + 3.472364085155277e-08, + 0.8143075704574585 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.873513479557005e-08, + -1.5805940165591892e-06, + -3.904104232788086e-06 + ], + "angular_velocity": [ + 5.7486129662720487e-05, + -2.290432803420117e-06, + 7.956087699767522e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.16358566284179688, + 0.46095752716064453, + 0.9180000424385071 + ], + "ori": [ + 0.9995167851448059, + 4.9696371462459865e-09, + -2.6711677314494864e-10, + -0.03108496032655239 + ], + "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": [ + -1.2258836612488722e-08, + -6.861511359090855e-09, + -5.286186933517456e-06 + ], + "angular_velocity": [ + 1.8371971464148373e-06, + -2.3778557078912854e-06, + -1.3044566316011696e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.18914413452148438, + 1.161423683166504, + 0.9179999828338623 + ], + "ori": [ + 0.09432854503393173, + 1.3035930557236952e-08, + 5.192100971385116e-09, + 0.9955410957336426 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.565825660942437e-09, + -1.7644788741222328e-08, + -5.807727575302124e-06 + ], + "angular_velocity": [ + 2.5895201360981446e-07, + 1.5532918951066677e-06, + 4.1499124137089893e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.1803874969482422, + 1.1261844635009766, + 0.9179999828338623 + ], + "ori": [ + -0.18441541492938995, + -6.061216595298902e-08, + 9.40259781145869e-09, + 0.9828484058380127 + ], + "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": [ + 3.812382942669501e-08, + 4.135074505029479e-08, + 7.450580596923828e-08 + ], + "angular_velocity": [ + -1.1458405424491502e-06, + 1.4303496982392971e-06, + 5.382109335982932e-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": 7.719999999999858, + "step": 1544, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.719085361538534e-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": 0.2711316999588719, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1430, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5428615510463715, + 0.407121479511261, + 0.0 + ], + "carrier_2": [ + -0.0006393492221832275, + -2.086162567138672e-06, + 0.0 + ], + "carrier_3": [ + 0.05003032088279724, + 0.6999996304512024, + 0.0 + ], + "carrier_4": [ + -1.3242010176181793, + 0.6735952496528625, + 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": [ + 0.2093440210813201, + 0.5405589569553344, + 2.734917132499536 + ], + "ori": [ + 9.694307899773154, + 12.029610166625613, + -20.094670940203102 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3404.3892481165917, + "color": [ + 0.9482335853809699, + 0.8429552801565395, + 0.8639075525260419 + ], + "intensity": 9582.989427024415, + "width": 2.4397998248804695, + "height": 1.222612913208629 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.3727506395967468, + 0.4671220695238767, + 2.5804100391937768 + ], + "ori": [ + 9.061426156630958, + -27.098533284522375, + -16.357470416608617 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4644.626824743661, + "color": [ + 0.9498777368939083, + 0.8889898853836526, + 0.9301322243475256 + ], + "intensity": 5000.59544479203, + "radius": 0.23649919215458065 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 641.3318422246905, + "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": [ + [ + 1.1650407314300537, + -1.5731223821640015, + 2.168290376663208, + -2.165943145751953, + -1.5707433223724365, + 2.7242984771728516, + 0.007649533450603485, + 0.007001141086220741 + ], + [ + 0.91410231590271, + -1.7193979024887085, + 2.09049916267395, + -1.9419004917144775, + -1.5707999467849731, + 2.484900712966919, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.8309011459350586, + -1.3862377405166626, + 1.962450623512268, + -2.146984815597534, + -1.5708104372024536, + 2.247643232345581, + 0.007747054100036621, + 0.007092851214110851 + ], + [ + 0.7852899432182312, + -1.3568172454833984, + 1.9252610206604004, + -2.139657974243164, + -1.5709590911865234, + 2.278578519821167, + 0.007619190961122513, + 0.006920600309967995 + ] + ], + "joint_vel": [ + [ + 0.017605319619178772, + -0.012354542501270771, + 0.009449638426303864, + 0.002644224790856242, + -0.0001339253067271784, + 0.0158517025411129, + -0.008253982290625572, + 0.0003126446681562811 + ], + [ + 2.296918339229984e-38, + -1.582784832334917e-38, + -2.501216865330367e-38, + -4.632914240319086e-37, + 5.770640346515382e-37, + -4.183351236448678e-37, + -2.599036363903906e-08, + 2.5990399166175848e-08 + ], + [ + 0.00017166754696518183, + 3.9131500670919195e-05, + -0.00022685702424496412, + -0.0003143099311273545, + 0.0010256203822791576, + 0.00250788195990026, + -0.008160430006682873, + 0.000311522075207904 + ], + [ + 0.002863577101379633, + 0.0012957197614014149, + 0.005161001812666655, + 0.0019080223282799125, + 0.002650212962180376, + 0.007554064504802227, + -0.009847266599535942, + 0.00022637945949099958 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05254513397812843, + 0.0021325524430722, + -0.031213155016303062, + -0.28930553793907166, + 0.6383602619171143, + 0.6565157175064087, + -0.27890071272850037 + ], + [ + 0.05162687227129936, + -0.0004769909428432584, + -0.03203599900007248, + -0.2668597400188446, + 0.6536357402801514, + 0.6510766744613647, + -0.27864909172058105 + ], + [ + 0.05358671024441719, + 0.0016204044222831726, + -0.03195470944046974, + -0.277782142162323, + 0.6571448445320129, + 0.6397659778594971, + -0.2858272194862366 + ], + [ + 0.047622960060834885, + 0.0011328913969919086, + -0.03330990672111511, + -0.2956204116344452, + 0.6392821073532104, + 0.6504486799240112, + -0.28432992100715637 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e003/wrist.mp4 b/episodes/c5_p000_e003/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1b44cd55c3c198dca421159639177c9f13178ff6 --- /dev/null +++ b/episodes/c5_p000_e003/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3678adc2d1f84c49e3c4407f7f5103735c104c482bfca635946f8507ed36b23 +size 6569372 diff --git a/episodes/c5_p000_e004/data.npz b/episodes/c5_p000_e004/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..eb26e0818c62448378d64390270e28ef7f5fcb24 --- /dev/null +++ b/episodes/c5_p000_e004/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f2b5b16f2fef3cf9032771aabcc2432e46a9c50369e2b0ac2317cf185756ce0 +size 189131 diff --git a/episodes/c5_p000_e004/device_events.jsonl b/episodes/c5_p000_e004/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d483a956571b6071b114ba21337af5bd0502f206 --- /dev/null +++ b/episodes/c5_p000_e004/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 78, "t": 0.39, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 78, "t": 0.39, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 83, "t": 0.415, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 5426, "t": 27.13, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6036, "t": 30.18, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 6, "step": 6036, "t": 30.18, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.209052014512252}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6036, "t": 30.18, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 8, "step": 6036, "t": 30.18, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 6036, "t": 30.18, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 6455, "t": 32.275, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 6455, "t": 32.275, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 6455, "t": 32.275, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 6455, "t": 32.275, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 6455, "t": 32.275, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 6455, "t": 32.275, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 6455, "t": 32.275, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 17, "step": 6455, "t": 32.275, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 6455, "t": 32.275, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.209052014512252}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7297, "t": 36.485, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 7297, "t": 36.485, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.210000000002154}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7297, "t": 36.485, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.210000000002154}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7297, "t": 36.485, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 23, "step": 7297, "t": 36.485, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 7297, "t": 36.485, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 7717, "t": 38.585, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 7717, "t": 38.585, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 6.6771179696445415e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 7717, "t": 38.585, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 6.6771179696445415e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 7717, "t": 38.585, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 7717, "t": 38.585, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 7717, "t": 38.585, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8299, "t": 41.495, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 10024, "t": 50.12, "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": 33, "step": 10024, "t": 50.12, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10024, "t": 50.12, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10024, "t": 50.12, "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/c5_p000_e004/env.mp4 b/episodes/c5_p000_e004/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a9258e387c674e09937482407681a686efd8b6fe --- /dev/null +++ b/episodes/c5_p000_e004/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4762b97331c9b4f145f4a2cf7000925dbbf742554233f3c4ea285c535df85d6 +size 1178656 diff --git a/episodes/c5_p000_e004/meta.json b/episodes/c5_p000_e004/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ed51009d09d678debc119adbe8dc593d8c5d2788 --- /dev/null +++ b/episodes/c5_p000_e004/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/4", + "fps": 25, + "frames": 1210, + "kept_ticks": "even", + "video_frames": { + "wrist": 1210, + "env": 1210 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e004/scene_snapshot.json b/episodes/c5_p000_e004/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..765c1b45961916468c66e02aaa73d59e5ea60f6a --- /dev/null +++ b/episodes/c5_p000_e004/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 4, + "env_id": 2, + "run_id": "c5_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.018499083156211e-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": 0.22381299788732759, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.28236201026974056, + "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": 0.22381299788732759, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.8422555923461914, + 1.1527900695800781, + 0.8999999761581421 + ], + "ori": [ + -0.008976113982498646, + -7.245080091422551e-09, + -3.892785116477171e-08, + 0.9999597668647766 + ], + "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": [ + 1.000559635144782e-08, + 2.8971305710001616e-07, + -4.842877388000488e-08 + ], + "angular_velocity": [ + -9.432826118427329e-06, + 9.422515176993329e-07, + -9.759166914591333e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.13255786895751953, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -3.1243121423329967e-09, + 4.012049803492346e-09, + -4.0757320675766096e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.104059399459345e-09, + 1.2144858452245444e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.6724499118936365e-07, + 8.036715826165164e-08, + -1.3333358417355612e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6736993789672852, + 0.9306116104125977, + 0.8999999761581421 + ], + "ori": [ + 0.5613178610801697, + 7.455123807176278e-08, + -5.5238309926153306e-08, + 0.827600359916687 + ], + "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": [ + 3.7101048633303435e-07, + -1.0446202622915735e-06, + -2.428889274597168e-06 + ], + "angular_velocity": [ + 8.905296272132546e-05, + 3.577155803213827e-05, + -1.0334636044717627e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.076486587524414, + 1.1467876434326172, + 0.8999999761581421 + ], + "ori": [ + -0.033735789358615875, + 1.0606445499661277e-07, + 6.916621231312092e-08, + 0.9994308352470398 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.540426781917688e-11, + 5.576988870714672e-10, + 0.0 + ], + "angular_velocity": [ + -4.478803461438474e-08, + -6.624896631279853e-09, + 5.750226961254157e-10 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.844390869140625, + 1.1416435241699219, + 0.9179999828338623 + ], + "ori": [ + -0.1087731271982193, + -1.277138750310769e-07, + -3.525904617163178e-07, + 0.994066596031189 + ], + "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": [ + -1.1082670425821561e-07, + 5.997797416057438e-06, + -3.7550926208496094e-06 + ], + "angular_velocity": [ + -1.1841286323033273e-05, + 3.285048660472967e-05, + -2.361769111303147e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.13275432586669922, + 0.4571065902709961, + 0.9180000424385071 + ], + "ori": [ + 0.9994435906410217, + -3.0853319898938025e-09, + 4.1780285897630165e-09, + -0.033355556428432465 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.665813620377321e-08, + 5.117754220407278e-09, + -5.301088094711304e-06 + ], + "angular_velocity": [ + 5.218821002017648e-07, + -1.6359560959244845e-06, + 7.804304402725393e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.6715221405029297, + 0.92864990234375, + 0.9179999828338623 + ], + "ori": [ + 0.6298067569732666, + 7.629655840446503e-08, + -4.626041771871314e-08, + 0.7767518758773804 + ], + "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": [ + 7.410106945826556e-07, + -1.9797737422777573e-06, + -8.303672075271606e-06 + ], + "angular_velocity": [ + 8.904259448172525e-05, + 3.578461110009812e-05, + -9.891182344290428e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.0855684280395508, + 1.154719352722168, + 0.9179999828338623 + ], + "ori": [ + -0.08294881135225296, + 1.0875412925770434e-07, + 6.557755938274568e-08, + 0.9965538382530212 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3807476761940052e-07, + -1.4912455270632563e-08, + -1.125037670135498e-06 + ], + "angular_velocity": [ + 6.70856707074563e-07, + 4.750418156618252e-06, + 1.24177347515797e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 1.919999999999981, + "step": 384, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 2.018499083156211e-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": 0.22381299788732759, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 305, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.6922555863857269, + 0.7027900815010071, + 0.0 + ], + "carrier_2": [ + -0.282557874917984, + 2.682209014892578e-06, + 0.0 + ], + "carrier_3": [ + 1.5236993730068207, + 0.4806116223335266, + 0.0 + ], + "carrier_4": [ + -1.2264865934848785, + 0.6967876553535461, + 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": [ + 0.39959055706107416, + 0.29567346812137296, + 2.7749605805521553 + ], + "ori": [ + 9.269991362771915, + -10.028171781922865, + -4.193512908633931 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5894.170867044266, + "color": [ + 0.8765231054387485, + 0.9892125688573752, + 0.8755367547685482 + ], + "intensity": 8964.946857223717, + "width": 2.156214651576686, + "height": 1.2039936014212635 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.6222487615359369, + 1.153563837594256, + 2.576391540478769 + ], + "ori": [ + 9.753012163942387, + -28.576816163400558, + 6.832776448914537 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5021.648724101808, + "color": [ + 0.9069943594142909, + 0.8334274696588028, + 0.9659362088335812 + ], + "intensity": 8547.78462323402, + "radius": 0.15787869325392578 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1328.7680804426109, + "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 + ], + [ + -0.2323201447725296, + -2.277228593826294, + 2.444551706314087, + -1.7376837730407715, + -1.5710211992263794, + 4.448952674865723, + 0.006868242286145687, + 0.008116166107356548 + ], + [ + 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 + ], + [ + -2.1475514586200006e-05, + -0.0013476755702868104, + -0.006085483357310295, + 0.0006087718065828085, + 0.007365915458649397, + -0.017241697758436203, + -0.00402385788038373, + 2.929165020759683e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + 0.05455804616212845, + 0.0017679991433396935, + -0.031094171106815338, + -0.28580302000045776, + 0.6423872709274292, + 0.6536756157875061, + -0.27993467450141907 + ], + [ + 0.05297547206282616, + 0.0003176809987053275, + -0.03291189670562744, + -0.2698747217655182, + 0.6514178514480591, + 0.6525273323059082, + -0.2775437831878662 + ], + [ + 0.05313076823949814, + 0.004010187461972237, + -0.03257938101887703, + -0.2819107174873352, + 0.654394268989563, + 0.640350878238678, + -0.286784291267395 + ], + [ + 0.04800042510032654, + 0.0009902024175971746, + -0.03329182043671608, + -0.2946561872959137, + 0.6424481868743896, + 0.6469147801399231, + -0.2862505614757538 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e004/wrist.mp4 b/episodes/c5_p000_e004/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b1259025ccaf484ddb0c8ca05fa0560b3adfc4b7 --- /dev/null +++ b/episodes/c5_p000_e004/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6c81b74eb71b9faf5172399cdc1f7298c6af7602068221c1eec26e33fa32970 +size 6766177 diff --git a/episodes/c5_p000_e005/data.npz b/episodes/c5_p000_e005/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..b640a882aa87b804798890fcc744856c49e33722 --- /dev/null +++ b/episodes/c5_p000_e005/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91f118009396984ab926f0c03083b8132914eb710c4c70b2a790a0328d8f028e +size 188705 diff --git a/episodes/c5_p000_e005/device_events.jsonl b/episodes/c5_p000_e005/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d6cef049bf94fef783e39055375a6f886c86c9a --- /dev/null +++ b/episodes/c5_p000_e005/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 75, "t": 0.375, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 75, "t": 0.375, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 80, "t": 0.4, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1231, "t": 6.155, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6119, "t": 30.595, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 6732, "t": 33.66, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6732, "t": 33.66, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.983923244734624}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 6732, "t": 33.66, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 9, "step": 6732, "t": 33.66, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 10, "step": 6732, "t": 33.66, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 11, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 12, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 7151, "t": 35.755, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 18, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 19, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.983923244734624}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 7748, "t": 38.74, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 21, "step": 7748, "t": 38.74, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.985000000001527}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7748, "t": 38.74, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.985000000001527}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 7748, "t": 38.74, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 24, "step": 7748, "t": 38.74, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 25, "step": 7748, "t": 38.74, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 26, "step": 8168, "t": 40.84, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 27, "step": 8168, "t": 40.84, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.11988779045214e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8168, "t": 40.84, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.11988779045214e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8168, "t": 40.84, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 8168, "t": 40.84, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8168, "t": 40.84, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 8747, "t": 43.735, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 33, "step": 10496, "t": 52.48, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 10496, "t": 52.48, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 10496, "t": 52.48, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 10496, "t": 52.48, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p000_e005/env.mp4 b/episodes/c5_p000_e005/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3f7d4726db48819d43b26ab312fbe3dc63e7c49f --- /dev/null +++ b/episodes/c5_p000_e005/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74ad7b074585034ce6a96bb5d0ccb17d863bb5d661f5c85d8676c31b6792c056 +size 1231310 diff --git a/episodes/c5_p000_e005/meta.json b/episodes/c5_p000_e005/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ce3970c90307a0d4e8ff21701109883a18ebdd4c --- /dev/null +++ b/episodes/c5_p000_e005/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/5", + "fps": 25, + "frames": 1218, + "kept_ticks": "even", + "video_frames": { + "wrist": 1218, + "env": 1218 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e005/scene_snapshot.json b/episodes/c5_p000_e005/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..891f2e08128823c95dc6539cacbe95f41aec1052 --- /dev/null +++ b/episodes/c5_p000_e005/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 5, + "env_id": 0, + "run_id": "c5_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5240573883056641, + 0.07274436950683594, + 0.8999999761581421 + ], + "ori": [ + -0.6924200057983398, + 0.0, + 0.0, + 0.7214946746826172 + ], + "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": [ + 2.018500384198818e-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": 0.16001880244888475, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.0907924335437961, + "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": 0.16001880244888475, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.059746742248535156, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.4716204638508543e-09, + 6.626126314301928e-10, + -2.6162231733906083e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.548775103951357e-10, + 1.7655144013417612e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.3778388563423505e-07, + 9.47010434515505e-08, + -6.338628733004725e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.273055076599121, + 1.0659360885620117, + 0.8999999761581421 + ], + "ori": [ + -0.33835211396217346, + 5.057675878106238e-08, + 3.840549211986399e-08, + 0.9410195350646973 + ], + "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": [ + 2.404731525018633e-09, + -1.446220920797714e-10, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 7.207503927020298e-08, + -3.794183953687025e-07, + -1.0034585784524097e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6883344650268555, + 0.7160177230834961, + 0.8999999761581421 + ], + "ori": [ + 0.7899925708770752, + 8.361335623874311e-09, + -2.318453695693279e-08, + 0.6131163835525513 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.321158041444619e-10, + -1.7264373264325172e-10, + 0.0 + ], + "angular_velocity": [ + 1.9265607775764693e-08, + 4.276468601460692e-08, + -1.967431995097968e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.04937744140625, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + 2.049525937763974e-05, + -1.822492934344666e-09, + 6.768512417210104e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.172402175342313e-09, + -1.8940058410521488e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.869759813644123e-07, + -6.726072143692363e-08, + -1.2083995137857073e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.04485893249511719, + 0.44621944427490234, + 0.9179999828338623 + ], + "ori": [ + 0.998237133026123, + -2.499273232814403e-09, + 8.784896698976752e-10, + -0.059352438896894455 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3084942906971264e-08, + 1.5594656233020032e-08, + 1.601874828338623e-07 + ], + "angular_velocity": [ + 1.6572847982843086e-08, + -1.9460364910628414e-06, + -2.4847055968280074e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -1.2711858749389648, + 1.0591230392456055, + 0.9180000424385071 + ], + "ori": [ + -0.39436250925064087, + 5.3708468783497665e-08, + 3.4084084887808785e-08, + 0.9189550280570984 + ], + "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": [ + -2.3370407831180273e-09, + 9.31999544206974e-09, + -5.282461643218994e-06 + ], + "angular_velocity": [ + -7.573369202873437e-07, + 3.7030031307949685e-07, + -1.4656785651823157e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.6955432891845703, + 0.7122163772583008, + 0.9180000424385071 + ], + "ori": [ + 0.832370936870575, + 9.952380253253068e-09, + -2.258040510128012e-08, + 0.5542188286781311 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.6848215024274396e-09, + -1.4224863065237514e-08, + -5.561858415603638e-06 + ], + "angular_velocity": [ + 1.5818975498405052e-06, + -1.82145868166117e-07, + 1.4296587025341978e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -0.05553245544433594, + 1.1479339599609375, + 0.9179999828338623 + ], + "ori": [ + 0.06812036037445068, + -2.0185779714410046e-09, + -1.009770933535492e-09, + 0.9976770877838135 + ], + "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": [ + 6.686414621981385e-08, + 2.0668888822683584e-10, + -1.5050172805786133e-06 + ], + "angular_velocity": [ + -2.826394620569772e-07, + 2.8586230200744467e-06, + 4.70119587703266e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 4.039999999999936, + "step": 808, + "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": 2.018500384198818e-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": 0.16001880244888475, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 732, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.09025326371192932, + 2.682209014892578e-06, + 0.0 + ], + "carrier_2": [ + -1.4230550825595856, + 0.6159361004829407, + 0.0 + ], + "carrier_3": [ + 1.538334459066391, + 0.26601773500442505, + 0.0 + ], + "carrier_4": [ + -0.19937744736671448, + 0.6999996304512024, + 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": [ + -0.1888795872931338, + -0.05664232062617247, + 2.6361006747792612 + ], + "ori": [ + -5.995248252537227, + -2.231989786267791, + -1.4763915304125277 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5792.2772001876765, + "color": [ + 0.8646056458825022, + 0.9737620052458419, + 0.9731971273098987 + ], + "intensity": 6336.123210276401, + "width": 2.3114949025910403, + "height": 1.6531018855686352 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.3255988163914114, + 0.1370416056801873, + 2.651346863210194 + ], + "ori": [ + 12.067166869196448, + 14.180717082049327, + -15.749170412770859 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3530.9882259917017, + "color": [ + 0.9377163287217721, + 0.9104863588211649, + 0.8533382639708452 + ], + "intensity": 2903.364935021423, + "radius": 0.3398182099534789 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1328.7680804426109, + "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": [ + [ + 0.9141026735305786, + -1.7193981409072876, + 2.0904994010925293, + -1.9419013261795044, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.247879147529602, + -1.4453684091567993, + 2.2374284267425537, + -2.3623087406158447, + -1.570914387702942, + 5.951702117919922, + 0.00760153541341424, + 0.007059023249894381 + ], + [ + 1.253074049949646, + -1.3092095851898193, + 2.290886640548706, + -2.5524227619171143, + -1.5708248615264893, + 2.8903324604034424, + 0.0076973759569227695, + 0.0072046671994030476 + ], + [ + 1.117577314376831, + -1.5339665412902832, + 2.1176950931549072, + -2.154521942138672, + -1.570732593536377, + 2.566648006439209, + 0.01800079271197319, + 0.01799921877682209 + ] + ], + "joint_vel": [ + [ + -2.424550705308385e-38, + 2.199683499959103e-38, + 1.8024520993427826e-38, + 5.931964551961084e-37, + -5.959138531781271e-37, + 2.6884651372076288e-36, + 2.5990400942532688e-08, + -2.599039206074849e-08 + ], + [ + -0.00012214426533319056, + 0.017773671075701714, + 0.008746456354856491, + -0.025690795853734016, + 0.00014576510875485837, + -0.0013317049015313387, + -0.0069723352789878845, + 0.0001987763389479369 + ], + [ + -8.950302435550839e-05, + -0.002853197744116187, + -0.0009373842040076852, + 0.0012781941331923008, + 0.0009460343862883747, + 0.008423732593655586, + -0.0065665156580507755, + 0.000339409161824733 + ], + [ + 0.014035441912710667, + 0.013374470174312592, + 0.0015075216069817543, + -0.014128915034234524, + -4.382589759188704e-05, + 0.005641048774123192, + 1.8506301785237156e-05, + -1.8625007214723155e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.052452750504016876, + 0.0017525164876133204, + -0.02998390607535839, + -0.2903309464454651, + 0.6415798664093018, + 0.6520717144012451, + -0.2808660864830017 + ], + [ + 0.04959847405552864, + -0.00029847753467038274, + -0.03127044439315796, + -0.26924777030944824, + 0.655741274356842, + 0.6464399099349976, + -0.2821781039237976 + ], + [ + 0.053562890738248825, + 0.005640194285660982, + -0.03207536041736603, + -0.2795512080192566, + 0.6591201424598694, + 0.6372037529945374, + -0.28527724742889404 + ], + [ + 0.04900502786040306, + 0.00043533803545869887, + -0.03271910920739174, + -0.29123103618621826, + 0.6445249319076538, + 0.6480594873428345, + -0.28247299790382385 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e005/wrist.mp4 b/episodes/c5_p000_e005/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7b66cbe2e9853dc747f87514d559e7f42d60c0fb --- /dev/null +++ b/episodes/c5_p000_e005/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e424dd55bc775e6e750998a0d3b7b12b9f6fea64042ebe8480f635033ad89ba +size 7172782 diff --git a/episodes/c5_p000_e006/data.npz b/episodes/c5_p000_e006/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..8e896f72ba6c5501569f70223da8bab26b02ddd8 --- /dev/null +++ b/episodes/c5_p000_e006/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f1e183543112ffb81f0d5fd3191e7ebe24867ebad1f16585fc8dc150e3b34ef +size 191227 diff --git a/episodes/c5_p000_e006/device_events.jsonl b/episodes/c5_p000_e006/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee35a981ec354f020c24b129f0db631649ae0555 --- /dev/null +++ b/episodes/c5_p000_e006/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 3, "seq": 1, "step": 146, "t": 0.73, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 146, "t": 0.73, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 151, "t": 0.755, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1310, "t": 6.55, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 1325, "t": 6.625, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 6278, "t": 31.39, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 6892, "t": 34.46, "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": 8, "step": 6892, "t": 34.46, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.9371930579001555}, "cause": "task-3-1"} +{"env_id": 3, "seq": 9, "step": 6892, "t": 34.46, "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": 10, "step": 6892, "t": 34.46, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 6892, "t": 34.46, "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": 12, "step": 7311, "t": 36.555, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 13, "step": 7311, "t": 36.555, "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": 14, "step": 7311, "t": 36.555, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 7311, "t": 36.555, "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": 16, "step": 7311, "t": 36.555, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 7311, "t": 36.555, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 18, "step": 7311, "t": 36.555, "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": 19, "step": 7311, "t": 36.555, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7311, "t": 36.555, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.9371930579001555}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8099, "t": 40.495, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 22, "step": 8099, "t": 40.495, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.9400000000020157}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 8099, "t": 40.495, "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": 3.9400000000020157}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 24, "step": 8099, "t": 40.495, "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": 25, "step": 8099, "t": 40.495, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8099, "t": 40.495, "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": 27, "step": 8519, "t": 42.595, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 28, "step": 8519, "t": 42.595, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.0185378762628261e-08}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8519, "t": 42.595, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.0185378762628261e-08}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 8519, "t": 42.595, "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": 31, "step": 8519, "t": 42.595, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 32, "step": 8519, "t": 42.595, "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": 33, "step": 9098, "t": 45.49, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 34, "step": 10876, "t": 54.38, "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": 35, "step": 10876, "t": 54.38, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 36, "step": 10876, "t": 54.38, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 37, "step": 10876, "t": 54.38, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p000_e006/env.mp4 b/episodes/c5_p000_e006/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e70affba0de08a0dd66d5082479763adc25329dd --- /dev/null +++ b/episodes/c5_p000_e006/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29780022972cbcc32e3c0722a477ab13f9fc063ea7e64f9e6270dc03cfbe9882 +size 1385754 diff --git a/episodes/c5_p000_e006/meta.json b/episodes/c5_p000_e006/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6ead2046001302bef68a6158a7d9c80c633cea66 --- /dev/null +++ b/episodes/c5_p000_e006/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/6", + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e006/scene_snapshot.json b/episodes/c5_p000_e006/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..2316b8b2138a1c2f817f92cbefa4de1a575cb51b --- /dev/null +++ b/episodes/c5_p000_e006/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 6, + "env_id": 3, + "run_id": "c5_p000", + "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_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.0092504089398435e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.18225405906348602, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.22651582226265465, + "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": 0.18225405906348602, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6759414672851562, + 0.6803131103515625, + 0.8999999761581421 + ], + "ori": [ + 0.8226838707923889, + 8.531578288284436e-08, + -4.181169188655076e-08, + 0.5684990882873535 + ], + "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": [ + -8.687948138685897e-10, + 3.234390533179976e-10, + 0.0 + ], + "angular_velocity": [ + -3.708555595949292e-08, + 1.811349648050964e-08, + 1.5981100887074717e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.07586956024169922, + 0.45000362396240234, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.71411848551395e-09, + -2.627263406829172e-10, + -6.901867891428992e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.264296750098538e-09, + 1.9110100168973077e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -1.4499671863177355e-07, + 2.141013908385503e-07, + -7.641235200139818e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.38582515716552734, + 1.1499700546264648, + 0.8999999761581421 + ], + "ori": [ + 0.0002912726777140051, + 5.102156475089714e-10, + -3.6478536857842414e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.8022370262826826e-09, + -3.783222068953762e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.3053089276127139e-08, + -1.6626678700504272e-07, + -8.197984513458323e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.265279769897461, + 1.0721139907836914, + 0.8999999761581421 + ], + "ori": [ + -0.3254658281803131, + -1.0224038504702548e-08, + 2.997181169916985e-09, + 0.9455538392066956 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2803072491074374e-10, + 3.179727592339532e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -8.844453702749888e-08, + 1.0930783389540011e-08, + -3.7516048934094215e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.6829767227172852, + 0.6779718399047852, + 0.9179999828338623 + ], + "ori": [ + 0.8584477305412292, + 8.690703623415175e-08, + -3.889074662311032e-08, + 0.5129010677337646 + ], + "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": [ + -7.800247203704203e-08, + -1.624857759452425e-08, + 8.195638656616211e-08 + ], + "angular_velocity": [ + 1.4369215932674706e-06, + -1.3375392882153392e-06, + 3.822041207968141e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.06973457336425781, + 0.4411296844482422, + 0.9180000424385071 + ], + "ori": [ + 0.9979130625724792, + 1.7060176604744015e-09, + -1.4745294985019086e-09, + 0.06457282602787018 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.110111445105758e-09, + 2.1203995004270837e-08, + -5.330890417098999e-06 + ], + "angular_velocity": [ + -1.3353719907627237e-08, + -1.7720569758239435e-06, + -3.348583987872189e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.37652111053466797, + 1.148930549621582, + 0.9180000424385071 + ], + "ori": [ + -0.013858087360858917, + -8.178124843993828e-12, + -8.721774968911689e-10, + 0.9999039769172668 + ], + "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": [ + 5.00528685165591e-09, + -7.364907350648764e-09, + -5.673617124557495e-06 + ], + "angular_velocity": [ + -4.6056698010943364e-07, + 1.260962108062813e-06, + -7.0446279920588495e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.269606590270996, + 1.067617416381836, + 0.9179999828338623 + ], + "ori": [ + -0.267250120639801, + -7.232015875047182e-09, + 1.1293055379724137e-09, + 0.963627278804779 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.185375577340892e-08, + 1.12875397917378e-07, + -1.7471611499786377e-06 + ], + "angular_velocity": [ + -2.967127784359036e-06, + 1.8652777953320765e-06, + 8.302632892309703e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 4.539999999999925, + "step": 908, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 1.0092504089398435e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.18225405906348602, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 761, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5259414613246918, + 0.23031312227249146, + 0.0 + ], + "carrier_2": [ + -0.2258695662021637, + 3.635883331298828e-06, + 0.0 + ], + "carrier_3": [ + 0.23582515120506287, + 0.6999700665473938, + 0.0 + ], + "carrier_4": [ + -1.4152797758579254, + 0.6221140027046204, + 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": [ + 0.8663387724351398, + 0.2057790783420571, + 2.6403503636169945 + ], + "ori": [ + -6.993310875083495, + -8.996910125371866, + 24.782267206138883 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3835.1994642847344, + "color": [ + 0.8831902303975093, + 0.9430517146933315, + 0.9284882426772911 + ], + "intensity": 15791.382262591322, + "width": 1.6581378293444513, + "height": 0.8284328745913114 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.8989944920480688, + -1.1006218024336514, + 2.20797561491277 + ], + "ori": [ + -32.81301828570973, + 33.35424405210638, + 10.123079749187305 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3528.122720192925, + "color": [ + 0.9750365319440002, + 0.7514680331210347, + 0.9557267856717577 + ], + "intensity": 6164.855563973242, + "radius": 0.40841971891088824 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1328.7680804426109, + "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": [ + [ + 0.9141026735305786, + -1.7193981409072876, + 2.0904994010925293, + -1.9419013261795044, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.2156833410263062, + -1.5497289896011353, + 2.1896116733551025, + -2.2098593711853027, + -1.5708972215652466, + 5.919166564941406, + 0.008025086484849453, + 0.006786910817027092 + ], + [ + 1.253090500831604, + -1.3083161115646362, + 2.291102170944214, + -2.5535621643066406, + -1.5708221197128296, + 2.8903167247772217, + 0.007699056528508663, + 0.0072019766084849834 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -2.424550705308385e-38, + 2.199683499959103e-38, + 1.8024520993427826e-38, + 5.931964551961084e-37, + -5.959138531781271e-37, + 2.6884651372076288e-36, + 2.5990400942532688e-08, + -2.599039206074849e-08 + ], + [ + 0.021153442561626434, + 0.010260251350700855, + -0.004722673911601305, + -0.006216532550752163, + -0.00024318705254700035, + 0.024797040969133377, + -0.006326526869088411, + 0.00023546542797703296 + ], + [ + -0.0006619526538997889, + 4.094470205018297e-05, + 0.00024489685893058777, + -0.002752127591520548, + 0.0011175639228895307, + 0.009496632032096386, + -0.0068052299320697784, + 0.00022779122809879482 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05097870156168938, + 0.0007383048650808632, + -0.028959188610315323, + -0.29150909185409546, + 0.6435812711715698, + 0.6517805457115173, + -0.27569493651390076 + ], + [ + 0.05137293040752411, + 0.0004567219002638012, + -0.03139525651931763, + -0.26824823021888733, + 0.6547250151634216, + 0.6488940119743347, + -0.2798473536968231 + ], + [ + 0.05251996964216232, + 0.0037045511417090893, + -0.03344682976603508, + -0.2778613269329071, + 0.6586984992027283, + 0.6386849880218506, + -0.2845888137817383 + ], + [ + 0.04791274666786194, + 0.00046354212099686265, + -0.03194443881511688, + -0.2917764484882355, + 0.6423921585083008, + 0.6508145332336426, + -0.28042691946029663 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e006/wrist.mp4 b/episodes/c5_p000_e006/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3e4b0c3c4139b585a31dcf69a9688998a6bf1b98 --- /dev/null +++ b/episodes/c5_p000_e006/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f81efd94bfaffa936f460c6a13d0ea6f193dce5ce1e57be712be9271ddc29e6 +size 7057915 diff --git a/episodes/c5_p000_e007/data.npz b/episodes/c5_p000_e007/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..d9de7a78d84dbfcb1cf9d21ebc4615cdad60d024 --- /dev/null +++ b/episodes/c5_p000_e007/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:681e53aafd9591f40bdbde403741ee496533e3c91a81951c5d6645499cdc99f6 +size 188200 diff --git a/episodes/c5_p000_e007/device_events.jsonl b/episodes/c5_p000_e007/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3590390c2a04ad1ab72b8de899696f645b4d33b0 --- /dev/null +++ b/episodes/c5_p000_e007/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 204, "t": 1.02, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 204, "t": 1.02, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 209, "t": 1.045, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 5763, "t": 28.815, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6376, "t": 31.88, "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": 6376, "t": 31.88, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.7166719620300745}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6376, "t": 31.88, "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": 6376, "t": 31.88, "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": 6376, "t": 31.88, "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": 6795, "t": 33.975, "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": 6795, "t": 33.975, "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": 6795, "t": 33.975, "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": 6795, "t": 33.975, "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": 6795, "t": 33.975, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 6795, "t": 33.975, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6795, "t": 33.975, "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": 6795, "t": 33.975, "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": 6795, "t": 33.975, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.7166719620300745}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7339, "t": 36.695, "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": 7339, "t": 36.695, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.7200000000013915}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7339, "t": 36.695, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.7200000000013915}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7339, "t": 36.695, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 23, "step": 7339, "t": 36.695, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 24, "step": 7339, "t": 36.695, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 25, "step": 7759, "t": 38.795, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 7759, "t": 38.795, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.0441943970883614e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 7759, "t": 38.795, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.0441943970883614e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 7759, "t": 38.795, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 7759, "t": 38.795, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 7759, "t": 38.795, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 8339, "t": 41.695, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10032, "t": 50.16, "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": 10032, "t": 50.16, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10032, "t": 50.16, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10032, "t": 50.16, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p000_e007/env.mp4 b/episodes/c5_p000_e007/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6fdc8e7d839ca0489a12343f5059a1e9d8b49593 --- /dev/null +++ b/episodes/c5_p000_e007/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a4b14e9fe50987ef012dbb923e93ba798fbd23507df8f8b1b1c62eafc859fbd +size 1249659 diff --git a/episodes/c5_p000_e007/meta.json b/episodes/c5_p000_e007/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a419c481c6faebc631e17edda470fedff7fb60c1 --- /dev/null +++ b/episodes/c5_p000_e007/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/7", + "fps": 25, + "frames": 1207, + "kept_ticks": "even", + "video_frames": { + "wrist": 1207, + "env": 1207 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e007/scene_snapshot.json b/episodes/c5_p000_e007/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..ab1f414f5ace6dbd4c2e584368910f32bb12d0fa --- /dev/null +++ b/episodes/c5_p000_e007/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 7, + "env_id": 1, + "run_id": "c5_p000", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5098752975463867, + 0.08571529388427734, + 0.8999999761581421 + ], + "ori": [ + 0.7111824154853821, + 0.0, + 0.0, + -0.7030075192451477 + ], + "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": 0.21234792343585196, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.04017753221301207, + "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": 0.21234792343585196, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.60406494140625, + 1.0373620986938477, + 0.8999999761581421 + ], + "ori": [ + 0.404596209526062, + -6.351184822506184e-08, + 3.391767933180745e-08, + 0.9144954681396484 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.9720424404567893e-08, + 1.267068228116841e-09, + 4.0978193283081055e-08 + ], + "angular_velocity": [ + -4.98451981911785e-08, + -1.270555799237627e-06, + -8.22119048393688e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3245611190795898, + 1.0119409561157227, + 0.8999999761581421 + ], + "ori": [ + -0.434520423412323, + -3.727404518372168e-08, + -2.079374361585451e-08, + 0.9006620645523071 + ], + "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": [ + -6.066753210909326e-10, + -2.9245245114495333e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 3.8769787380488197e-08, + -4.8279723330324487e-08, + 1.5168488687322679e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.10950756072998047, + 0.44725513458251953, + 0.8999999761581421 + ], + "ori": [ + 0.9999492764472961, + -3.2360567558953335e-09, + 3.82555986888633e-09, + 0.010080160573124886 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.072832071599919e-10, + -1.4532938186206934e-09, + 0.0 + ], + "angular_velocity": [ + 6.635495708451344e-08, + -2.8280474850816972e-08, + 3.6625718013993946e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.2075939178466797, + 1.1522588729858398, + 0.8999999761581421 + ], + "ori": [ + -0.01349375955760479, + -9.65811874920064e-10, + 2.2316968273372595e-09, + 0.9999090433120728 + ], + "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": [ + -2.564421563988617e-09, + -1.6776304789800633e-09, + 2.9802322387695312e-08 + ], + "angular_velocity": [ + 1.7765202642294753e-07, + -2.751682472990069e-07, + -1.289524931280539e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 1.6163406372070312, + 1.036036491394043, + 0.9179999828338623 + ], + "ori": [ + 0.4926651418209076, + 1.3570976875598717e-07, + 2.1483145928868908e-07, + 0.8702191114425659 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.416241487590014e-07, + 2.5269046091125347e-06, + -8.940696716308594e-06 + ], + "angular_velocity": [ + 8.425831765634939e-05, + -5.3045434469822794e-05, + -1.4943943824619055e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.318028450012207, + 1.0167016983032227, + 0.9180000424385071 + ], + "ori": [ + -0.4006369113922119, + -3.780552404464288e-08, + -2.1738484790034818e-08, + 0.9162369966506958 + ], + "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": [ + 2.1403039340839314e-09, + 1.3086119743377367e-08, + -5.133450031280518e-06 + ], + "angular_velocity": [ + -1.3693066875930526e-06, + 2.971626997805288e-07, + 1.793080883771836e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.12341022491455078, + 0.44974613189697266, + 0.9179999828338623 + ], + "ori": [ + 0.9990931749343872, + -4.21675849793246e-09, + 3.5762370842462587e-09, + -0.042577825486660004 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.588605465182809e-09, + -4.656511620737547e-08, + -5.945563316345215e-06 + ], + "angular_velocity": [ + 7.83591644903936e-07, + -1.326714368588e-06, + -1.231040016591578e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -0.21677875518798828, + 1.1464204788208008, + 0.9179999828338623 + ], + "ori": [ + 0.07175669074058533, + -3.086745969937965e-09, + 7.184610684163317e-09, + 0.9974222779273987 + ], + "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": [ + 4.207332082728499e-08, + 2.4527446740307823e-08, + 2.421438694000244e-07 + ], + "angular_velocity": [ + -1.1540391824382823e-06, + 2.8729270979965804e-06, + -5.4972311147594155e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 2.0999999999999774, + "step": 420, + "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": 0.21234792343585196, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 215, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.4540649354457855, + 0.5873621106147766, + 0.0 + ], + "carrier_2": [ + -1.4745611250400543, + 0.5619409680366516, + 0.0 + ], + "carrier_3": [ + -0.04049244523048401, + -0.0027448534965515137, + 0.0 + ], + "carrier_4": [ + -0.35759392380714417, + 0.7022588849067688, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.24508526771459327, + -0.37368006720950203, + 2.774827018679595 + ], + "ori": [ + -2.761872291292164, + -2.601031763156932, + -20.847258833068015 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6358.583412194755, + "color": [ + 0.8353473557995861, + 0.8513774387564993, + 0.8129308166258596 + ], + "intensity": 12958.0662967897, + "width": 1.560000185367345, + "height": 1.7005164089114304 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.0868834896343933, + -0.7306130380823281, + 1.784917089065 + ], + "ori": [ + -38.48479730492972, + -11.127367832666781, + -32.43003810144624 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7078.6980841753675, + "color": [ + 0.8063926600698406, + 0.8977492011486174, + 0.9625295160421891 + ], + "intensity": 7044.583521395836, + "radius": 0.208502720028031 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1328.7680804426109, + "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": [ + [ + 0.8771417140960693, + -1.515027403831482, + 2.1112983226776123, + -2.167083740234375, + -1.5707707405090332, + 2.566831588745117, + 0.007674853783100843, + 0.007173564750701189 + ], + [ + 0.9141016602516174, + -1.7193981409072876, + 2.09049916267395, + -1.9419001340866089, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 2.4601049423217773, + -2.1033942699432373, + 2.7395167350769043, + -2.205958127975464, + -1.5698652267456055, + 4.031580924987793, + 0.007721958216279745, + 0.007195403333753347 + ], + [ + 1.1302577257156372, + -1.5221054553985596, + 2.1188690662384033, + -2.1675522327423096, + -1.5707893371582031, + 2.571870803833008, + 0.0077302888967096806, + 0.0071086399257183075 + ] + ], + "joint_vel": [ + [ + 0.0001535618066554889, + -6.305537681328133e-06, + -6.192646105773747e-05, + 0.0006003558519296348, + -0.0005114236264489591, + -0.002031035255640745, + -0.006321542896330357, + 0.00021022035798523575 + ], + [ + 0.0, + 2.8430378418106626e-38, + 1.8786768503485024e-38, + 4.550935813870787e-37, + -6.230373862535982e-37, + -5.487806300215638e-37, + -8.357875413610881e-38, + 1.0674138818270716e-37 + ], + [ + 0.02721373178064823, + 0.050927091389894485, + -0.017695961520075798, + -0.03336663171648979, + 0.0008288344833999872, + 0.02449312061071396, + -0.00651941541582346, + 0.00022555567556992173 + ], + [ + 0.00018395464576315135, + 1.9203727788408287e-05, + -0.0002671644324436784, + 2.0714698621304706e-05, + 0.0001310685183852911, + 0.00038512234459631145, + -0.0077104452066123486, + 0.00032014757744036615 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05439555272459984, + 0.001938525470905006, + -0.029417172074317932, + -0.2882257401943207, + 0.6405503749847412, + 0.652047872543335, + -0.285402774810791 + ], + [ + 0.05005936324596405, + -0.0014097066596150398, + -0.03215690329670906, + -0.2712140679359436, + 0.6538172364234924, + 0.6476182341575623, + -0.2820577323436737 + ], + [ + 0.052170369774103165, + 0.0017816477920860052, + -0.03257406875491142, + -0.27628955245018005, + 0.656300961971283, + 0.6407042741775513, + -0.28710824251174927 + ], + [ + 0.0483892448246479, + -0.0014647061470896006, + -0.033189546316862106, + -0.29243674874305725, + 0.6378275752067566, + 0.6530699133872986, + -0.2848796546459198 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e007/wrist.mp4 b/episodes/c5_p000_e007/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..30fc333f596dbd6e0cab8ba7c19e026c12e20c2f --- /dev/null +++ b/episodes/c5_p000_e007/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44e1f8ce0c2f724540a46938838bd4012a58d04be871a05c2cfc0cc6a53dd55d +size 7976331 diff --git a/episodes/c5_p000_e008/data.npz b/episodes/c5_p000_e008/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..7089db127e308d3904784c47cb448a753e54cff5 --- /dev/null +++ b/episodes/c5_p000_e008/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ab9f081dcc71aef2de450d8c068f22694d6729174adea09744b9ac8b98eff6f +size 186392 diff --git a/episodes/c5_p000_e008/device_events.jsonl b/episodes/c5_p000_e008/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6f49f48ed544470fe859d4ecc2c8fb1f9d281897 --- /dev/null +++ b/episodes/c5_p000_e008/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 73, "t": 0.365, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 73, "t": 0.365, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 78, "t": 0.39, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 5566, "t": 27.83, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6176, "t": 30.88, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 6176, "t": 30.88, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.890995469934852}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6176, "t": 30.88, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 6176, "t": 30.88, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6176, "t": 30.88, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 6595, "t": 32.975, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 6595, "t": 32.975, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 6595, "t": 32.975, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 6595, "t": 32.975, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 6595, "t": 32.975, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 6595, "t": 32.975, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 6595, "t": 32.975, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 6595, "t": 32.975, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 6595, "t": 32.975, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.890995469934852}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7174, "t": 35.87, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7174, "t": 35.87, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.895000000001481}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7174, "t": 35.87, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.895000000001481}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7174, "t": 35.87, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 7174, "t": 35.87, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7174, "t": 35.87, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 7594, "t": 37.97, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 7594, "t": 37.97, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.567964673185543e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 7594, "t": 37.97, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.567964673185543e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 7594, "t": 37.97, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 7594, "t": 37.97, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 7594, "t": 37.97, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8179, "t": 40.895, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 9932, "t": 49.66, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 9932, "t": 49.66, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 9932, "t": 49.66, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 9932, "t": 49.66, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p000_e008/env.mp4 b/episodes/c5_p000_e008/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cf8d5c40a473e27c485367c1d8c6e8895c4623e1 --- /dev/null +++ b/episodes/c5_p000_e008/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b98016b61301d0d63f99d536bba471c4212028393ce3378b9a823ff87815e1b +size 1305922 diff --git a/episodes/c5_p000_e008/meta.json b/episodes/c5_p000_e008/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b1e10f3cdee5e2c87e1faa211fcfb33f506147b2 --- /dev/null +++ b/episodes/c5_p000_e008/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/8", + "fps": 25, + "frames": 1197, + "kept_ticks": "even", + "video_frames": { + "wrist": 1197, + "env": 1197 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e008/scene_snapshot.json b/episodes/c5_p000_e008/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..a1c2218766ac20206bc76b65cc713931c471f799 --- /dev/null +++ b/episodes/c5_p000_e008/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 8, + "env_id": 3, + "run_id": "c5_p000", + "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_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.17048803144684158, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.19348688488991161, + "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": 0.17048803144684158, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.25375843048095703, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + -7.073272627167171e-06, + 5.952285775379096e-09, + 4.187469926364429e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.3849855423918598e-09, + -2.3727357856273557e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 1.6469725494516751e-07, + -2.1520757798043633e-07, + -1.443798058886614e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6315155029296875, + 1.0062246322631836, + 0.8999999761581421 + ], + "ori": [ + 0.4529929757118225, + 1.8848579586006053e-08, + -2.7791298151669253e-08, + 0.8915141224861145 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.238471016497328e-10, + 4.4440559565650517e-10, + 0.0 + ], + "angular_velocity": [ + -2.2592265835896796e-08, + 3.9620662306560916e-08, + -5.184766393995233e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.04325103759765625, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.811243765028394e-09, + 4.165822131696473e-10, + -6.381912953656865e-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": [ + 6.434439647762247e-10, + -4.824923238722079e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 5.279886750031437e-08, + 6.023154242029705e-08, + -4.971797196162697e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3966951370239258, + 0.760533332824707, + 0.8999999761581421 + ], + "ori": [ + -0.7453465461730957, + 4.598941671929424e-09, + -1.2563407381094294e-07, + 0.6666772961616516 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.7485725634667233e-10, + -1.832570761806096e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.232184132504699e-08, + 3.999428699330565e-08, + 1.8114278077518975e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.2532472610473633, + 1.158895492553711, + 0.9179999828338623 + ], + "ori": [ + 0.10028616338968277, + 5.655097279344545e-09, + 4.67338390208738e-09, + 0.9949586987495422 + ], + "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": [ + 1.435205465583067e-08, + -2.1071841160846816e-08, + 1.5273690223693848e-07 + ], + "angular_velocity": [ + 6.810861350459163e-07, + 1.7810091321734944e-06, + -6.61181331906846e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 1.6322250366210938, + 1.0072555541992188, + 0.9180000424385071 + ], + "ori": [ + 0.492200642824173, + 1.8563255821391067e-08, + -2.8371104576763173e-08, + 0.8704817891120911 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.1480332179635298e-08, + -1.5346564907758875e-08, + -5.420297384262085e-06 + ], + "angular_velocity": [ + 8.422227324444975e-07, + 1.398645508743357e-06, + -6.017448583861551e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -0.055396080017089844, + 0.45328426361083984, + 0.9180000424385071 + ], + "ori": [ + 0.9999943971633911, + 4.295353406291724e-09, + -1.0980882869660036e-09, + -0.0033714340534061193 + ], + "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": [ + -4.703201383904343e-09, + 6.258691787053294e-09, + -4.906207323074341e-06 + ], + "angular_velocity": [ + 8.139766691783734e-07, + -1.6636807913528173e-06, + -4.9670163093651354e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.3882598876953125, + 0.7644386291503906, + 0.9179999828338623 + ], + "ori": [ + -0.7038953900337219, + 1.325999932078048e-08, + -1.3182686586787895e-07, + 0.7103037238121033 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.250147859849676e-08, + 6.293581122918113e-08, + -3.5800039768218994e-06 + ], + "angular_velocity": [ + -2.058462087006774e-06, + -2.5361655389133375e-06, + 4.2818646406317384e-09 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 2.0399999999999787, + "step": 408, + "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": 0.17048803144684158, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 334, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.10375842452049255, + 0.6999977231025696, + 0.0 + ], + "carrier_2": [ + 1.481515496969223, + 0.5562246441841125, + 0.0 + ], + "carrier_3": [ + -0.19325104355812073, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_4": [ + -1.5466951429843903, + 0.310533344745636, + 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": [ + -0.24650289339076692, + -0.21379433564061057, + 2.636285740666319 + ], + "ori": [ + 1.7684214968850647, + 8.436001583538257, + -8.41921669686461 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4602.128890437882, + "color": [ + 0.919069360259266, + 0.8850113647531939, + 0.9466203905780588 + ], + "intensity": 4632.120930122229, + "width": 2.3045071284210144, + "height": 0.8154133767600886 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.7370271351438764, + -0.4162109978766847, + 2.0035828731817156 + ], + "ori": [ + -14.166366598583771, + -2.0499428084461613, + -8.931431967461265 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5012.887528060493, + "color": [ + 0.7614179945983451, + 0.8168232899735248, + 0.8909807148652484 + ], + "intensity": 5182.516814828537, + "radius": 0.20749843206685237 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 919.1314126441674, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141027331352234, + -1.7193981409072876, + 2.09049916267395, + -1.9419001340866089, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.335841417312622, + -1.322102427482605, + 2.295466661453247, + -2.5400567054748535, + -1.5719311237335205, + 6.017834186553955, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 0.9750778079032898, + -1.3212679624557495, + 2.147963285446167, + -2.3974480628967285, + -1.5707964897155762, + 2.403010606765747, + 0.018000047653913498, + 0.017999952659010887 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.0, + -2.453606068446774e-38, + -1.592979558922573e-38, + -3.695527627723854e-37, + 6.2554501546070135e-37, + -1.8785323820820244e-36, + 2.5990388508034812e-08, + -2.5990386731677972e-08 + ], + [ + -6.811924777139211e-06, + 3.405920551813324e-06, + 6.811926596128615e-06, + -5.309976416900675e-12, + 1.0217934686806984e-05, + 2.724782461882569e-05, + 1.8192137929418095e-07, + 1.8195484585703525e-07 + ], + [ + -0.000131040666019544, + 0.017091700807213783, + 0.0073303659446537495, + -0.023133480921387672, + -7.300710876734229e-06, + -2.0914114429615438e-05, + -7.3794767558865715e-06, + 7.354716217378154e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05154043808579445, + 0.002131527289748192, + -0.0320863351225853, + -0.2893090546131134, + 0.63963383436203, + 0.6546196937561035, + -0.28043150901794434 + ], + [ + 0.052389662712812424, + -0.001023495220579207, + -0.03190965950489044, + -0.26751595735549927, + 0.6528352499008179, + 0.651423454284668, + -0.2790856957435608 + ], + [ + 0.05280061811208725, + 0.003400179324671626, + -0.0314943827688694, + -0.2749817371368408, + 0.6537554264068604, + 0.6437332034111023, + -0.2873959541320801 + ], + [ + 0.04884913191199303, + 0.001228412613272667, + -0.03038310818374157, + -0.29538559913635254, + 0.6413668990135193, + 0.6522998213768005, + -0.27550092339515686 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e008/wrist.mp4 b/episodes/c5_p000_e008/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c3aef8f268fb6f1e74b059a7e33757843de63e75 --- /dev/null +++ b/episodes/c5_p000_e008/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c37ca2318caec62aa5eaff30837789d84c76e3baf4e33cd0f322e87e1ae7ced8 +size 7248856 diff --git a/episodes/c5_p000_e009/data.npz b/episodes/c5_p000_e009/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..4fb347003904c5a4e2ffa806856ad3becd940269 --- /dev/null +++ b/episodes/c5_p000_e009/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d4fdaf9b201c73a9669b86f6a91df79990b7a4fc55a1f69dc34bb7b20c8439e +size 194726 diff --git a/episodes/c5_p000_e009/device_events.jsonl b/episodes/c5_p000_e009/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a669dec1843e540c14223fd9ea940ab9d0fe51d4 --- /dev/null +++ b/episodes/c5_p000_e009/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 119, "t": 0.595, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 119, "t": 0.595, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 124, "t": 0.62, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1383, "t": 6.915, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6483, "t": 32.415, "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": 7096, "t": 35.48, "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": 7096, "t": 35.48, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.945804149662557}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 7096, "t": 35.48, "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": 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": 2, "seq": 10, "step": 7096, "t": 35.48, "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": 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": 2, "seq": 12, "step": 7515, "t": 37.575, "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": 7515, "t": 37.575, "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": 7515, "t": 37.575, "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": 7515, "t": 37.575, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7515, "t": 37.575, "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": 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": 2, "seq": 19, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.945804149662557}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 8505, "t": 42.525, "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": 8505, "t": 42.525, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.950000000002532}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8505, "t": 42.525, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.950000000002532}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 8505, "t": 42.525, "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": 8505, "t": 42.525, "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": 8505, "t": 42.525, "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": 8925, "t": 44.625, "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": 8925, "t": 44.625, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.8332885556859857e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8925, "t": 44.625, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.8332885556859857e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8925, "t": 44.625, "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": 8925, "t": 44.625, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8925, "t": 44.625, "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": 9501, "t": 47.505, "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": 11228, "t": 56.14, "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": 11228, "t": 56.14, "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": 11228, "t": 56.14, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 11228, "t": 56.14, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p000_e009/env.mp4 b/episodes/c5_p000_e009/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4956ac92f4f367b81d16f52fcf9dc7db03c9f9d5 --- /dev/null +++ b/episodes/c5_p000_e009/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db1e17b44389dd79c5bc77008d82a06ea54c21b5eaf43bda0c23b3a1cca9f62b +size 1323343 diff --git a/episodes/c5_p000_e009/meta.json b/episodes/c5_p000_e009/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..209a367b318b4acc00075ed04807032769a05377 --- /dev/null +++ b/episodes/c5_p000_e009/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/9", + "fps": 25, + "frames": 1290, + "kept_ticks": "even", + "video_frames": { + "wrist": 1290, + "env": 1290 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e009/scene_snapshot.json b/episodes/c5_p000_e009/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..ff21f582cf725f84c404ef140bd3dedee781fa6d --- /dev/null +++ b/episodes/c5_p000_e009/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 9, + "env_id": 2, + "run_id": "c5_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.0092494331578883e-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": 0.19244993229589513, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.13561898189898655, + "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": 0.19244993229589513, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.014575958251953125, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -2.0477201878588147e-10, + 3.7917063933079476e-10, + 1.6155723642441444e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.686540458631043e-10, + 1.0728713473184825e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -3.072941012760566e-08, + 8.905625747956947e-08, + -2.0958266233606082e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6546459197998047, + 0.9674205780029297, + 0.8999999761581421 + ], + "ori": [ + 0.5141724348068237, + 9.358903696465859e-08, + -5.915084955177008e-08, + 0.8576868772506714 + ], + "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": [ + 1.540104577202328e-08, + 3.163686201901328e-09, + -1.1175870895385742e-08 + ], + "angular_velocity": [ + -3.6961904470445006e-07, + 3.188119706010184e-07, + -1.603051771326136e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.13426685333251953, + 1.1500015258789062, + 0.8999999761581421 + ], + "ori": [ + 8.247396181104705e-06, + -2.9005053914232803e-10, + -3.0961846420041184e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3323921965735508e-09, + -1.1730940663312595e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 2.1759369417395646e-08, + -1.1493570895027005e-07, + -2.5717543650216612e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.032301902770996, + 1.1494941711425781, + 0.8999999761581421 + ], + "ori": [ + -0.005212781485170126, + -1.4729231168075785e-08, + -1.4593486419300916e-09, + 0.9999864101409912 + ], + "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": [ + 6.199867286227345e-09, + 1.74775269812244e-08, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -4.6529351038770983e-07, + 2.5649907797742344e-07, + 3.9559687081691663e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.01482391357421875, + 0.4439516067504883, + 0.9179999828338623 + ], + "ori": [ + 0.9974460005760193, + 5.136079339607136e-10, + -4.933273234364322e-10, + 0.07142499089241028 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2066251109388304e-08, + 5.258696589294232e-09, + 1.3783574104309082e-07 + ], + "angular_velocity": [ + 5.769693984802871e-07, + -1.59346018335782e-06, + -3.2189259258075253e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.652090072631836, + 0.9721488952636719, + 0.9180000424385071 + ], + "ori": [ + 0.4572386145591736, + -6.122112949924485e-08, + -4.27251904966397e-07, + 0.8893440961837769 + ], + "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": [ + 2.479688191669993e-06, + 6.2713652368984185e-06, + -4.764646291732788e-06 + ], + "angular_velocity": [ + -0.00011831185838673264, + 6.853614468127489e-05, + -5.1861054089386016e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -0.1303110122680664, + 1.1584596633911133, + 0.9180000424385071 + ], + "ori": [ + 0.0208562221378088, + -1.7819382636119485e-09, + -3.0550415530683495e-09, + 0.9997825622558594 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.184818186952043e-09, + -2.4726480418735264e-08, + -5.163252353668213e-06 + ], + "angular_velocity": [ + 1.286761175833817e-06, + 8.239525186581886e-07, + -4.1855134469415134e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.0392875671386719, + 1.1575593948364258, + 0.9179999828338623 + ], + "ori": [ + 0.08670663088560104, + -1.42605651731742e-08, + -3.453368258021783e-09, + 0.9962339401245117 + ], + "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": [ + 9.662561950563031e-08, + 3.562143646718141e-08, + -1.2926757335662842e-06 + ], + "angular_velocity": [ + 1.2970710940862773e-06, + 3.1969748306437396e-06, + 1.793092252455608e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 4.759999999999921, + "step": 952, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 1.0092494331578883e-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": 0.19244993229589513, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 832, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.13542404770851135, + 2.682209014892578e-06, + 0.0 + ], + "carrier_2": [ + 1.5046459138393402, + 0.5174205899238586, + 0.0 + ], + "carrier_3": [ + -0.284266859292984, + 0.7000015377998352, + 0.0 + ], + "carrier_4": [ + -1.1823019087314606, + 0.6994941830635071, + 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": [ + 0.6673672915858923, + 0.09380374895043175, + 2.9425357153668474 + ], + "ori": [ + 1.5727356833152903, + -9.61396256716742, + 22.391786500195906 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3946.244583823105, + "color": [ + 0.8349418518329786, + 0.8604197235475517, + 0.9494388259529113 + ], + "intensity": 4935.656470080758, + "width": 2.704787248832759, + "height": 1.5181634018175467 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.6876657516870882, + 1.2675389940506234, + 2.202374227163428 + ], + "ori": [ + 34.06813269275658, + -12.959775683285855, + 20.41771017546705 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6802.0894306154605, + "color": [ + 0.7671819572345661, + 0.9634888048973191, + 0.8027066132578309 + ], + "intensity": 6070.283433361514, + "radius": 0.17695542752174315 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 919.1314126441674, + "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": [ + [ + 0.9141019582748413, + -1.7193981409072876, + 2.09049916267395, + -1.9419001340866089, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.3350247144699097, + -1.539160132408142, + 2.190603256225586, + -2.2196388244628906, + -1.5721763372421265, + 6.017112731933594, + 0.007178371772170067, + 0.006511211395263672 + ], + [ + 0.9141027331352234, + -1.7193984985351562, + 2.0904998779296875, + -1.9419013261795044, + -1.5707999467849731, + 2.4849002361297607, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -2.5547688874430043e-38, + 2.9534932314432163e-38, + 2.944577610093796e-38, + 6.970523120018533e-37, + -7.2375455870700985e-37, + 2.4908329073980888e-37, + 2.5990388508034812e-08, + -2.5990386731677972e-08 + ], + [ + -0.00013413018314167857, + 0.003126872703433037, + 0.0026004083920270205, + -0.005155373830348253, + -1.8419186744722538e-05, + 0.00013563114043790847, + -0.0088584553450346, + 0.00017403923266101629 + ], + [ + -2.656059224599488e-38, + 1.6472961294773458e-38, + 2.819379159318081e-38, + 5.2277584879845875e-37, + -3.985902677631454e-38, + 4.424637343800577e-37, + 5.1980798332351696e-08, + -5.198078412149698e-08 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05312790349125862, + 0.0018150038085877895, + -0.032538700848817825, + -0.2844086289405823, + 0.6455895900726318, + 0.6511324048042297, + -0.2799150049686432 + ], + [ + 0.05004911124706268, + -0.0005753032164648175, + -0.03230224549770355, + -0.2716836631298065, + 0.6533271074295044, + 0.6485067009925842, + -0.28069695830345154 + ], + [ + 0.05058290436863899, + 0.0035690420772880316, + -0.03137874975800514, + -0.2776923179626465, + 0.6538603901863098, + 0.6430693864822388, + -0.28603389859199524 + ], + [ + 0.04772233963012695, + -0.0022472902201116085, + -0.03191210329532623, + -0.29249271750450134, + 0.6401902437210083, + 0.6514474153518677, + -0.28323274850845337 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e009/wrist.mp4 b/episodes/c5_p000_e009/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3ee67e611f697f3b547cd36c509253af25d93319 --- /dev/null +++ b/episodes/c5_p000_e009/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce084c8716133ce8658bd33b48aae1f0ecab90c7dcb909b53238feb3ceb2fe99 +size 7493452 diff --git a/episodes/c5_p000_e010/data.npz b/episodes/c5_p000_e010/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..c834309797358cc7486500b4421d36bddd4fdbf9 --- /dev/null +++ b/episodes/c5_p000_e010/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:deb57814761a641e54943bcd8c117c591a2d2393eaf74289b4b3584c52020e05 +size 188587 diff --git a/episodes/c5_p000_e010/device_events.jsonl b/episodes/c5_p000_e010/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8cef12f724f186c8294edf218641d306ada1cc4e --- /dev/null +++ b/episodes/c5_p000_e010/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 147, "t": 0.735, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 147, "t": 0.735, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 152, "t": 0.76, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6875, "t": 34.375, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 7488, "t": 37.44, "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": 7488, "t": 37.44, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.2032855490116763}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7488, "t": 37.44, "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": 7488, "t": 37.44, "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": 7488, "t": 37.44, "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": 7907, "t": 39.535, "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": 7907, "t": 39.535, "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": 7907, "t": 39.535, "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": 7907, "t": 39.535, "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": 7907, "t": 39.535, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7907, "t": 39.535, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7907, "t": 39.535, "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": 7907, "t": 39.535, "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": 7907, "t": 39.535, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.2032855490116763}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 8548, "t": 42.74, "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": 8548, "t": 42.74, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.2050000000016396}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8548, "t": 42.74, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.2050000000016396}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8548, "t": 42.74, "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": 8548, "t": 42.74, "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": 8548, "t": 42.74, "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": 8968, "t": 44.84, "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": 8968, "t": 44.84, "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": 8968, "t": 44.84, "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": 8968, "t": 44.84, "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": 8968, "t": 44.84, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8968, "t": 44.84, "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": 9548, "t": 47.74, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 11212, "t": 56.06, "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": 11212, "t": 56.06, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11212, "t": 56.06, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 11212, "t": 56.06, "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/c5_p000_e010/env.mp4 b/episodes/c5_p000_e010/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dd6e9407fac9ab07f9bd78a7409b5af1330eac95 --- /dev/null +++ b/episodes/c5_p000_e010/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c333345537961d674910151a4be4db8433ca350d48b0f9b9fa272111dfa054e0 +size 1292626 diff --git a/episodes/c5_p000_e010/meta.json b/episodes/c5_p000_e010/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..88e59a385e39dbdc77cf73b947bd0f85e916353b --- /dev/null +++ b/episodes/c5_p000_e010/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/10", + "fps": 25, + "frames": 1232, + "kept_ticks": "even", + "video_frames": { + "wrist": 1232, + "env": 1232 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e010/scene_snapshot.json b/episodes/c5_p000_e010/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..1681d0d58f5bb51448f2bac34321e8c201d406af --- /dev/null +++ b/episodes/c5_p000_e010/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 10, + "env_id": 0, + "run_id": "c5_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5240573883056641, + 0.07274436950683594, + 0.8999999761581421 + ], + "ori": [ + -0.6924200057983398, + 0.0, + 0.0, + 0.7214946746826172 + ], + "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": 0.24526137774436008, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.009127288321352178, + "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": 0.24526137774436008, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6627330780029297, + 0.6495323181152344, + 0.8999999761581421 + ], + "ori": [ + 0.8510607481002808, + 3.458217179286294e-08, + -3.608817422673383e-08, + 0.525067150592804 + ], + "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": [ + 1.0010893225498307e-09, + -3.622738220521171e-10, + 0.0 + ], + "angular_velocity": [ + 4.2065714467298676e-08, + 1.2563745599436515e-07, + 6.696842191900032e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4797859191894531, + 1.1525077819824219, + 0.8999999761581421 + ], + "ori": [ + -0.010899676941335201, + -8.160093933895496e-09, + -3.531158143665891e-10, + 0.9999406337738037 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.234858185294456e-10, + -9.816407686713546e-10, + 0.0 + ], + "angular_velocity": [ + 1.311176731633168e-07, + 7.113192879160124e-08, + -1.1589713189152917e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.14124774932861328, + 0.4470329284667969, + 0.8999999761581421 + ], + "ori": [ + 0.9999694228172302, + 2.7081630271652557e-09, + -1.3733739701038417e-09, + 0.007823401130735874 + ], + "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": [ + 7.705399651669609e-10, + 1.5486237847639472e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.0706033748419941e-07, + 7.311341221338807e-08, + -9.624789854001392e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2946891784667969, + 0.5510063171386719, + 0.900007426738739 + ], + "ori": [ + -0.9252974987030029, + 0.00012169506953796372, + -5.322785000316799e-05, + 0.37924203276634216 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -0.00027094167307950556, + -0.00032366858795285225, + -0.0013744346797466278 + ], + "angular_velocity": [ + 0.033396802842617035, + -0.032926514744758606, + -0.005065361503511667 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.6645736694335938, + 0.6419229507446289, + 0.9179999828338623 + ], + "ori": [ + 0.825177013874054, + 3.378035984269445e-08, + -3.833240214135003e-08, + 0.5648741722106934 + ], + "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": [ + 4.508635242927994e-08, + -3.706098183897666e-08, + 7.82310962677002e-08 + ], + "angular_velocity": [ + 2.0555944502120838e-06, + 7.012329774624959e-07, + -2.1665729832420766e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.4913959503173828, + 1.1494569778442383, + 0.9180000424385071 + ], + "ori": [ + -0.04158145189285278, + -8.205311985420849e-09, + 1.3067049664527985e-09, + 0.9991351366043091 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.371914404302288e-08, + -8.516813920778077e-09, + -5.237758159637451e-06 + ], + "angular_velocity": [ + -3.618064567945112e-07, + 1.2273807215024135e-06, + 6.80804177477512e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.1348562240600586, + 0.4359598159790039, + 0.9180000424385071 + ], + "ori": [ + 0.9988822937011719, + 2.5406665660199224e-09, + -6.881146208392863e-10, + 0.047268886119127274 + ], + "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": [ + -1.1105577790715415e-08, + 1.7228098059263175e-08, + -5.912035703659058e-06 + ], + "angular_velocity": [ + -1.6988059314826387e-07, + -1.6859710285643814e-06, + 6.91513513118025e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.2978515625, + 0.5521745681762695, + 0.9180054068565369 + ], + "ori": [ + -0.9074566960334778, + 0.00018666248070076108, + -8.295950101455674e-05, + 0.420145720243454 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -0.0008790766587480903, + -0.000787158205639571, + -0.0017120428383350372 + ], + "angular_velocity": [ + 0.02947598695755005, + -0.032200880348682404, + -0.0037770764902234077 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 6.959999999999874, + "step": 1392, + "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": 0.24526137774436008, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1244, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5127330720424652, + 0.19953233003616333, + 0.0 + ], + "carrier_2": [ + 0.32978591322898865, + 0.7025077939033508, + 0.0 + ], + "carrier_3": [ + -0.008752256631851196, + -0.00296705961227417, + 0.0 + ], + "carrier_4": [ + -1.4446891844272614, + 0.10100632905960083, + 7.3909759521484375e-06 + ] + }, + "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": [ + 0.06633546115056366, + -0.07951362891965108, + 2.7562514213862275 + ], + "ori": [ + 11.389570768210813, + 10.366304303847986, + 25.078477722608596 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5184.415158476561, + "color": [ + 0.891072690369198, + 0.8591332022077888, + 0.8540899457216786 + ], + "intensity": 8713.412255506155, + "width": 2.768645071764466, + "height": 1.125537357351698 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.3350859374363901, + 0.7015867924618282, + 2.682731215796958 + ], + "ori": [ + -28.6074359624675, + -4.522578628239003, + -5.08143014022928 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5282.425713937613, + "color": [ + 0.8405932878903146, + 0.9487884147312948, + 0.9393907961016612 + ], + "intensity": 10384.373210826789, + "radius": 0.28251101883320606 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 919.1314126441674, + "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": [ + [ + 0.9141103029251099, + -1.7193965911865234, + 2.090498208999634, + -1.9419001340866089, + -1.5707999467849731, + 2.4849050045013428, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141013622283936, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.975139319896698, + -1.4656667709350586, + 2.0560927391052246, + -2.161839008331299, + -1.5706984996795654, + 2.4030864238739014, + 0.008038673549890518, + 0.006759013049304485 + ], + [ + 1.091997504234314, + -1.5312410593032837, + 2.130082607269287, + -2.1696536540985107, + -1.5707741975784302, + 2.669584274291992, + 0.007668862119317055, + 0.007041876669973135 + ] + ], + "joint_vel": [ + [ + -2.810423741092274e-38, + 0.0, + 0.0, + 7.15708370187183e-37, + -8.200595916052606e-38, + -1.4677157515864819e-37, + -6.508349775215728e-38, + 1.2014161303347537e-37 + ], + [ + -1.4291511658587966e-35, + 5.045055301892472e-35, + 2.480387498604514e-35, + 4.671499498001717e-36, + -1.2853471821151815e-36, + 4.337454158544144e-37, + 2.5990399166175848e-08, + -2.5990386731677972e-08 + ], + [ + -0.0016008918173611164, + 0.00025229170569218695, + 0.0012228350387886167, + -0.0019992059096693993, + -0.00030135875567793846, + -0.0017435720656067133, + -0.006511487066745758, + 0.00022684446594212204 + ], + [ + 9.203043737215921e-05, + -2.565582690294832e-05, + -0.0002951338537968695, + 8.314513979712501e-05, + 3.500334787531756e-05, + 9.143878560280427e-05, + -0.00788141693919897, + 0.00031007814686745405 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05483085662126541, + 5.880459866602905e-05, + -0.030672729015350342, + -0.29013118147850037, + 0.639348566532135, + 0.6548943519592285, + -0.2795902490615845 + ], + [ + 0.05139189586043358, + -0.00121588003821671, + -0.03097751922905445, + -0.2698901891708374, + 0.6539081931114197, + 0.6494240164756775, + -0.2789476811885834 + ], + [ + 0.05319313704967499, + 0.0014001153176650405, + -0.03203631564974785, + -0.2777996361255646, + 0.6562386751174927, + 0.6403464078903198, + -0.28659147024154663 + ], + [ + 0.04633385315537453, + -0.0029161337297409773, + -0.02993158996105194, + -0.29064977169036865, + 0.644681453704834, + 0.6483235359191895, + -0.2821083068847656 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e010/wrist.mp4 b/episodes/c5_p000_e010/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..77ae4efeecc7638db027ac653c220f4eaf3f03b8 --- /dev/null +++ b/episodes/c5_p000_e010/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6fbe06c909cff0b37f590a1afc9abfd13274c5341bd5e71ca38d1ac6f653d424 +size 8251126 diff --git a/episodes/c5_p000_e011/data.npz b/episodes/c5_p000_e011/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..a0cff058c65f0857e6422c1f1920d3afe43fb75a --- /dev/null +++ b/episodes/c5_p000_e011/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b69f44ad337c1f94665ff0eaa8d31c66649a5ccaf2fd93dcce3ba96689a6c01f +size 202215 diff --git a/episodes/c5_p000_e011/device_events.jsonl b/episodes/c5_p000_e011/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e410aee47e0e289a58e9e556cd19aa36578d470f --- /dev/null +++ b/episodes/c5_p000_e011/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 1, "seq": 1, "step": 161, "t": 0.805, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 161, "t": 0.805, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 166, "t": 0.83, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1867, "t": 9.335, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 1958, "t": 9.79, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 6491, "t": 32.455, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 7, "step": 7104, "t": 35.52, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 7104, "t": 35.52, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.022267424382953}, "cause": "task-1-1"} +{"env_id": 1, "seq": 9, "step": 7104, "t": 35.52, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 7104, "t": 35.52, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 7104, "t": 35.52, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 7523, "t": 37.615, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 13, "step": 7523, "t": 37.615, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7523, "t": 37.615, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 15, "step": 7523, "t": 37.615, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 16, "step": 7523, "t": 37.615, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 7523, "t": 37.615, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 18, "step": 7523, "t": 37.615, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7523, "t": 37.615, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 7523, "t": 37.615, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.022267424382953}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8328, "t": 41.64, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 22, "step": 8328, "t": 41.64, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.025000000002059}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 8328, "t": 41.64, "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": 4.025000000002059}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 24, "step": 8328, "t": 41.64, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 25, "step": 8328, "t": 41.64, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 8328, "t": 41.64, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8748, "t": 43.74, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 28, "step": 8748, "t": 43.74, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.8553374392382693e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8748, "t": 43.74, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.8553374392382693e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 30, "step": 8748, "t": 43.74, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 31, "step": 8748, "t": 43.74, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 32, "step": 8748, "t": 43.74, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 33, "step": 9326, "t": 46.63, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 34, "step": 11544, "t": 57.72, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 11544, "t": 57.72, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 36, "step": 11544, "t": 57.72, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 37, "step": 11544, "t": 57.72, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p000_e011/env.mp4 b/episodes/c5_p000_e011/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5042973464c3373ab3bbf0e39fe2b800b48a5733 --- /dev/null +++ b/episodes/c5_p000_e011/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f07e6c1c22ca50aa0f33a943a80b5f98f3eca38493fe0f87030b74757be06b5 +size 1348828 diff --git a/episodes/c5_p000_e011/meta.json b/episodes/c5_p000_e011/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..216d97a0c6e12b9e5ebaaff898d7e30d4d5b4d39 --- /dev/null +++ b/episodes/c5_p000_e011/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/11", + "fps": 25, + "frames": 1268, + "kept_ticks": "even", + "video_frames": { + "wrist": 1268, + "env": 1268 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e011/scene_snapshot.json b/episodes/c5_p000_e011/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..22ed3ab662315ea97a31f021202000fed3782146 --- /dev/null +++ b/episodes/c5_p000_e011/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 11, + "env_id": 1, + "run_id": "c5_p000", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5098752975463867, + 0.08571529388427734, + 0.8999999761581421 + ], + "ori": [ + 0.7111824154853821, + 0.0, + 0.0, + -0.7030075192451477 + ], + "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": [ + 1.345666308417981e-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": 0.20227629113426018, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.18553335216828223, + "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": 0.20227629113426018, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6594333648681641, + 1.152505874633789, + 0.8999999761581421 + ], + "ori": [ + -0.011243248358368874, + 6.941804997495638e-08, + 1.2033553709045464e-08, + 0.9999368190765381 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.2205695887910224e-09, + -6.449231371163933e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.0289465990354074e-07, + -2.875863458484673e-07, + -3.6590833474292594e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.035368919372558594, + 0.44745635986328125, + 0.8999999761581421 + ], + "ori": [ + 0.9999454617500305, + -7.382375266651309e-10, + 3.787196334315013e-09, + 0.010442609898746014 + ], + "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": [ + -2.222567463405767e-09, + -4.046999180218336e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.5143442055887135e-07, + -1.5304441092212073e-07, + -4.652316221154251e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1824455261230469, + 1.1202726364135742, + 0.8999999761581421 + ], + "ori": [ + -0.1887352466583252, + 2.4781954266472894e-08, + 1.3487865047068226e-08, + 0.982028067111969 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.6985930157152893e-10, + -7.871626683808586e-10, + 0.0 + ], + "angular_velocity": [ + 5.141427905641649e-08, + 3.0269870165966495e-08, + 4.5563997019826274e-11 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6937103271484375, + 0.750615119934082, + 0.8999999761581421 + ], + "ori": [ + 0.7587725520133972, + -1.139220717760736e-09, + -4.344605564199355e-09, + 0.6513556241989136 + ], + "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": [ + 6.213577985469954e-10, + 9.316487581401134e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -8.828733655263932e-08, + 1.690806072929263e-08, + 6.64341737177665e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.6571741104125977, + 1.1558780670166016, + 0.9179999828338623 + ], + "ori": [ + -0.029250824823975563, + 6.97380997394248e-08, + 9.169376369300153e-09, + 0.9995721578598022 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.760323856269679e-09, + -3.3429785162297776e-08, + 1.825392246246338e-07 + ], + "angular_velocity": [ + -3.4475669963285327e-07, + 1.939070898515638e-06, + -1.877771182989818e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -0.031764984130859375, + 0.4559154510498047, + 0.9180000424385071 + ], + "ori": [ + 0.9971938133239746, + -9.689431479387167e-10, + 2.7736355434626603e-09, + -0.07486384361982346 + ], + "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": [ + -3.5391522601457837e-08, + -5.151456861085535e-08, + -5.1781535148620605e-06 + ], + "angular_velocity": [ + 1.2742617627736763e-06, + -2.4843077426339732e-06, + -1.1170514113700847e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.1838722229003906, + 1.1120080947875977, + 0.9179999828338623 + ], + "ori": [ + -0.24532562494277954, + 2.5676305526189935e-08, + 1.1839484059805727e-08, + 0.9694408178329468 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.593351725176944e-09, + 2.3571504748076677e-09, + -6.098300218582153e-06 + ], + "angular_velocity": [ + -7.449498866662907e-07, + 7.019213512649003e-07, + 3.1455730464813314e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.6868972778320312, + 0.746098518371582, + 0.9179999828338623 + ], + "ori": [ + 0.7359305024147034, + -4.1818672968929604e-09, + -2.4291202382897836e-09, + 0.677057147026062 + ], + "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": [ + 4.7818929260756704e-08, + -6.057211976440158e-08, + 1.601874828338623e-07 + ], + "angular_velocity": [ + 2.6612685815052828e-06, + 2.367191427765647e-06, + 5.079338905034092e-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": 7.199999999999869, + "step": 1440, + "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": 1.345666308417981e-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": 0.20227629113426018, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1278, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.5094333589076996, + 0.702505886554718, + 0.0 + ], + "carrier_2": [ + -0.18536892533302307, + -0.002543628215789795, + 0.0 + ], + "carrier_3": [ + -1.3324455320835114, + 0.6702726483345032, + 0.0 + ], + "carrier_4": [ + 1.543710321187973, + 0.300615131855011, + 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": [ + 0.5220897604893214, + -0.08877528561463077, + 3.0003200959137 + ], + "ori": [ + -12.784089896330102, + 2.3855041840611264, + -9.918755032497732 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6160.013810611603, + "color": [ + 0.8218099090356912, + 0.8299511576145822, + 0.86154527251204 + ], + "intensity": 9158.075449867792, + "width": 2.095345000319024, + "height": 1.2422660298261878 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.4393377663494551, + -0.5179368812550074, + 2.34434822347678 + ], + "ori": [ + 33.73387754430172, + 21.29470645415695, + -29.51326184135879 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5201.226704645656, + "color": [ + 0.9879550531953677, + 0.973140855468605, + 0.7691125867510902 + ], + "intensity": 5465.82306079905, + "radius": 0.11614098091362231 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 919.1314126441674, + "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": [ + [ + 0.7665524482727051, + -1.3807919025421143, + 1.9558968544006348, + -2.1455841064453125, + -1.5708900690078735, + 2.242702007293701, + 0.006694593001157045, + 0.008023705333471298 + ], + [ + 0.9141025543212891, + -1.7193983793258667, + 2.0905003547668457, + -1.9419009685516357, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.8082823753356934, + -1.521061658859253, + 2.1389458179473877, + -2.189063549041748, + -1.5706242322921753, + 4.379528045654297, + 0.017999989911913872, + 0.017999989911913872 + ], + [ + 2.7028017044067383, + -1.935309886932373, + 2.0950169563293457, + -1.72592031955719, + -1.5684726238250732, + 4.2715229988098145, + 0.007730700541287661, + 0.006978921126574278 + ] + ], + "joint_vel": [ + [ + -0.00020473820040933788, + -0.00016421376494690776, + -0.0009951527463272214, + -0.0004078960046172142, + 0.0007702335133217275, + 0.0018369181780144572, + -0.004575727973133326, + -0.0001846976374508813 + ], + [ + -2.2818434506104705e-38, + 2.8748815086333655e-38, + 2.724218942423633e-38, + 4.153234754061163e-37, + -6.126254471935843e-37, + -8.139144494236877e-38, + 2.5990388508034812e-08, + -2.5990388508034812e-08 + ], + [ + 6.8119393290544394e-06, + 6.811940693296492e-06, + -2.043582389887888e-05, + -1.3623902304971125e-05, + -1.021793286781758e-05, + 2.7247828256804496e-05, + 1.2994462394999573e-07, + 1.299610374871918e-07 + ], + [ + 0.01039955299347639, + 0.024678360670804977, + -0.014887594617903233, + -0.009621557779610157, + -0.00020419881911948323, + 0.011037620715796947, + -0.009360454976558685, + 0.0003240170481149107 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05150972306728363, + 0.0032174361404031515, + -0.02991468273103237, + -0.2862122654914856, + 0.6375548839569092, + 0.6590023636817932, + -0.2780687212944031 + ], + [ + 0.05027635022997856, + 0.0007663845317438245, + -0.03208646923303604, + -0.2711575925350189, + 0.6528964638710022, + 0.6486089825630188, + -0.2819683253765106 + ], + [ + 0.05344096198678017, + 0.002245754236355424, + -0.030542759224772453, + -0.27775612473487854, + 0.6613181829452515, + 0.6368160843849182, + -0.28279873728752136 + ], + [ + 0.04808354377746582, + -0.0005587065825238824, + -0.03222929686307907, + -0.295208603143692, + 0.6419045925140381, + 0.6503753662109375, + -0.27896633744239807 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e011/wrist.mp4 b/episodes/c5_p000_e011/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..77d1282b5047eb6659e7dd19fc06adfd43f00013 --- /dev/null +++ b/episodes/c5_p000_e011/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62751b322dd736e3036bf05b68a8095e8b11a45c064db7d196410450dbf66019 +size 7301750 diff --git a/episodes/c5_p000_e012/data.npz b/episodes/c5_p000_e012/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..38d648400eecfed4ecb90fb4725fdacaa2f44add --- /dev/null +++ b/episodes/c5_p000_e012/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c40cd98254874eecb8d50448a09da2593d55edd0ca1237bf4fcb9330b4fb4657 +size 185535 diff --git a/episodes/c5_p000_e012/device_events.jsonl b/episodes/c5_p000_e012/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c0c21ebb8c6b97938863d498d04d87676681482d --- /dev/null +++ b/episodes/c5_p000_e012/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 119, "t": 0.595, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 119, "t": 0.595, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 124, "t": 0.62, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 629, "t": 3.145, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 5450, "t": 27.25, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 6064, "t": 30.32, "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": 6064, "t": 30.32, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.209652798971118}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 6064, "t": 30.32, "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": 6064, "t": 30.32, "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": 6064, "t": 30.32, "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": 6483, "t": 32.415, "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": 6483, "t": 32.415, "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": 6483, "t": 32.415, "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": 6483, "t": 32.415, "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": 6483, "t": 32.415, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 6483, "t": 32.415, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 6483, "t": 32.415, "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": 6483, "t": 32.415, "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": 6483, "t": 32.415, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.209652798971118}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 6925, "t": 34.625, "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": 6925, "t": 34.625, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.2100000000011306}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 6925, "t": 34.625, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.2100000000011306}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 6925, "t": 34.625, "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": 6925, "t": 34.625, "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": 6925, "t": 34.625, "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": 7345, "t": 36.725, "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": 7345, "t": 36.725, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.66500996007835e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 7345, "t": 36.725, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.66500996007835e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 7345, "t": 36.725, "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": 7345, "t": 36.725, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 7345, "t": 36.725, "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": 7921, "t": 39.605, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 33, "step": 9612, "t": 48.06, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 9612, "t": 48.06, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 9612, "t": 48.06, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 9612, "t": 48.06, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p000_e012/env.mp4 b/episodes/c5_p000_e012/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4b098acbf702d9d8366c5fb1305637bd44494bb1 --- /dev/null +++ b/episodes/c5_p000_e012/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:321a758f3913a5ae43a5f0c56080c3754578540e67f546de47370dfb0b8cdfcd +size 1243026 diff --git a/episodes/c5_p000_e012/meta.json b/episodes/c5_p000_e012/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cd311e288a401877c52049e261b6d242ec2be6d8 --- /dev/null +++ b/episodes/c5_p000_e012/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/12", + "fps": 25, + "frames": 1184, + "kept_ticks": "even", + "video_frames": { + "wrist": 1184, + "env": 1184 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e012/scene_snapshot.json b/episodes/c5_p000_e012/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..b4764ba4dcc96d90bd8e06044b76eb01db845ce0 --- /dev/null +++ b/episodes/c5_p000_e012/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 12, + "env_id": 3, + "run_id": "c5_p000", + "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_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.29199321127266825, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.04282799525614006, + "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": 0.29199321127266825, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6835098266601562, + 0.8994712829589844, + 0.8999999761581421 + ], + "ori": [ + 0.6037938594818115, + 1.4098844758336782e-08, + -2.167305410694098e-07, + 0.7971404790878296 + ], + "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": [ + 4.1893281377269886e-07, + -5.440721224658773e-07, + -4.641711711883545e-06 + ], + "angular_velocity": [ + 4.668113251682371e-05, + 6.698616925859824e-05, + 5.156868610356469e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3817920684814453, + 0.902949333190918, + 0.8999999761581421 + ], + "ori": [ + -0.5850163102149963, + -1.2036065299980692e-07, + -8.67649490032818e-08, + 0.8110215663909912 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.908191837988852e-07, + -9.6107419267355e-07, + -2.4810433387756348e-06 + ], + "angular_velocity": [ + 9.009028144646436e-05, + -3.691706297104247e-05, + -2.9020102374488488e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.2445363998413086, + 1.1536779403686523, + 0.8999999761581421 + ], + "ori": [ + -0.002290670992806554, + -7.457926720633168e-09, + -9.850346094353313e-10, + 0.9999974370002747 + ], + "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": [ + -3.7457559276532493e-10, + 3.053279851172874e-11, + 0.0 + ], + "angular_velocity": [ + 5.895952170931196e-08, + -2.0033276371123065e-08, + -1.2879890931571936e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.10692310333251953, + 0.44736385345458984, + 0.8999999761581421 + ], + "ori": [ + 0.9999518394470215, + -7.283809111413575e-09, + -4.789138685623584e-08, + 0.00981840118765831 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.164971301179321e-08, + 1.1981658332160805e-08, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + 8.705557661414787e-07, + -2.0421566659933887e-07, + 6.948293389541504e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.6793365478515625, + 0.8943109512329102, + 0.9179999828338623 + ], + "ori": [ + 0.6556664705276489, + 4.3641796310112113e-07, + 1.2079870259640302e-07, + 0.755050778388977 + ], + "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": [ + -1.8892505977419205e-06, + 3.116257175861392e-06, + -1.097843050956726e-05 + ], + "angular_velocity": [ + 4.0382052247878164e-05, + 7.702048606006429e-05, + 1.1169658137077931e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.3925294876098633, + 0.900944709777832, + 0.9179999828338623 + ], + "ori": [ + -0.5695996284484863, + -1.1252637932557263e-07, + -9.479852991489679e-08, + 0.821922242641449 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0868182016565697e-06, + -2.0060431324964156e-06, + -7.502734661102295e-06 + ], + "angular_velocity": [ + 9.106002107728273e-05, + -3.768007081816904e-05, + -3.19566697726259e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.25701236724853516, + 1.152984619140625, + 0.9180000424385071 + ], + "ori": [ + -0.03384201228618622, + -8.268458806526269e-09, + 1.2450657171925172e-10, + 0.9994272589683533 + ], + "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": [ + 1.2910263968990421e-08, + -8.821865904451442e-09, + -5.334615707397461e-06 + ], + "angular_velocity": [ + -2.370317133681965e-07, + 1.088309886654315e-06, + 8.1006334085032e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.09353256225585938, + 0.4427461624145508, + 0.9179999828338623 + ], + "ori": [ + 0.9980863332748413, + 1.4518482771563868e-07, + -3.4480106592127413e-07, + -0.06183667853474617 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1608293561948813e-06, + 3.277744326624088e-06, + -9.313225746154785e-07 + ], + "angular_velocity": [ + 1.6479882106068544e-05, + -2.9042932510492392e-05, + 1.1555451237654779e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 0.8600000000000007, + "step": 172, + "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": 0.29199321127266825, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 52, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5335098206996918, + 0.44947129487991333, + 0.0 + ], + "carrier_2": [ + -1.5317920744419098, + 0.4529493451118469, + 0.0 + ], + "carrier_3": [ + 0.09453639388084412, + 0.7036779522895813, + 0.0 + ], + "carrier_4": [ + -0.043076902627944946, + -0.002636134624481201, + 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": [ + -0.1751498053717528, + 0.27196835147280984, + 2.8435737208725356 + ], + "ori": [ + 6.082222667768207, + -5.233058081169297, + -27.33938855892131 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6248.641947248382, + "color": [ + 0.937960711252253, + 0.9002330720183239, + 0.9067620106290292 + ], + "intensity": 8928.796799736177, + "width": 2.726176912093467, + "height": 1.6346973361542319 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.5384017115313628, + 0.2186927604600799, + 2.49498032090568 + ], + "ori": [ + -22.634162217316273, + 35.08344242269061, + 16.976191552813972 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3104.2904890768255, + "color": [ + 0.961654976606769, + 0.8648898860388641, + 0.8781314794372779 + ], + "intensity": 9881.632922425077, + "radius": 0.1598723585048985 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 919.1314126441674, + "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": [ + [ + 0.7553648352622986, + -1.808480143547058, + 2.27616810798645, + -2.0303423404693604, + -1.5722013711929321, + 5.4588704109191895, + 0.007289274595677853, + 0.006695791147649288 + ], + [ + -0.267995685338974, + -1.9662729501724243, + 2.5693907737731934, + -2.1739320755004883, + -1.5708163976669312, + 4.36530876159668, + 0.00766421016305685, + 0.006951278541237116 + ], + [ + 1.5523343086242676, + -1.3691558837890625, + 2.1987767219543457, + -2.4013583660125732, + -1.5699526071548462, + 6.270623683929443, + 0.01800004579126835, + 0.017999958246946335 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.07264453172683716, + 0.03938780725002289, + -0.014182303100824356, + -0.024451354518532753, + 0.00042546316399239004, + 0.07045182585716248, + -0.008132155053317547, + 0.00034328020410612226 + ], + [ + 0.00011494429782032967, + -0.021161211654543877, + -0.016901398077607155, + 0.03667633235454559, + 0.0007014183211140335, + -0.0018702730303630233, + -0.009011411108076572, + 0.00030897231772542 + ], + [ + 0.0001650121557759121, + -0.01827285997569561, + -0.008213179185986519, + 0.025194479152560234, + -5.906552360102069e-06, + 4.00427270506043e-05, + -9.643508747103624e-06, + 9.568149835104123e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.052481021732091904, + 0.0015536727150902152, + -0.033625103533267975, + -0.2894536256790161, + 0.6419435143470764, + 0.652992308139801, + -0.27879422903060913 + ], + [ + 0.0505250059068203, + -0.0002912093186751008, + -0.030627239495515823, + -0.2726427912712097, + 0.6484698057174683, + 0.6553516983985901, + -0.275076299905777 + ], + [ + 0.05266697704792023, + 0.0026099267415702343, + -0.031234977766871452, + -0.2730531096458435, + 0.6581807136535645, + 0.6391566395759583, + -0.28934237360954285 + ], + [ + 0.04914276301860809, + -0.0015753651969134808, + -0.03217753395438194, + -0.2915031611919403, + 0.6414857506752014, + 0.6518098711967468, + -0.2804742455482483 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e012/wrist.mp4 b/episodes/c5_p000_e012/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f69d572397543d0e73941c9134c8830015ae365a --- /dev/null +++ b/episodes/c5_p000_e012/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8fbff7ef99e1c6cd1b614be7676b01bd658a864cb7dcd98468c7242e6c5be71 +size 6618716 diff --git a/episodes/c5_p000_e013/data.npz b/episodes/c5_p000_e013/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..03b70e9d7f8acce71d3bb1da39d556881dfe5973 --- /dev/null +++ b/episodes/c5_p000_e013/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89feb9257e742175ad9d9e6048fab07b3011d4d4b87d1e71522091b7ee66daeb +size 188728 diff --git a/episodes/c5_p000_e013/device_events.jsonl b/episodes/c5_p000_e013/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..39fd2f3536e7474de3b440b6bc4e3f661ffd28c1 --- /dev/null +++ b/episodes/c5_p000_e013/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 38, "t": 0.19, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 38, "t": 0.19, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 43, "t": 0.215, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1752, "t": 8.76, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6671, "t": 33.355, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 7280, "t": 36.4, "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": 7280, "t": 36.4, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.7180618650159776}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 7280, "t": 36.4, "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": 7280, "t": 36.4, "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": 7280, "t": 36.4, "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": 7699, "t": 38.495, "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": 7699, "t": 38.495, "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": 7699, "t": 38.495, "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": 7699, "t": 38.495, "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": 7699, "t": 38.495, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7699, "t": 38.495, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7699, "t": 38.495, "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": 7699, "t": 38.495, "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": 7699, "t": 38.495, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.7180618650159776}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 8243, "t": 41.215, "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": 8243, "t": 41.215, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.7200000000013915}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8243, "t": 41.215, "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": 2.7200000000013915}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 8243, "t": 41.215, "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": 8243, "t": 41.215, "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": 8243, "t": 41.215, "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": 8663, "t": 43.315, "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": 8663, "t": 43.315, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.687153883267456e-07}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8663, "t": 43.315, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.687153883267456e-07}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8663, "t": 43.315, "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": 8663, "t": 43.315, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8663, "t": 43.315, "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": 9243, "t": 46.215, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 10988, "t": 54.94, "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": 10988, "t": 54.94, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 10988, "t": 54.94, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10988, "t": 54.94, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p000_e013/env.mp4 b/episodes/c5_p000_e013/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..588232079a770b42906cd563cf9c840ef4d2077c --- /dev/null +++ b/episodes/c5_p000_e013/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98c2f5aabd7dc0ed830af0dc1aa8fda10ae7ab15d1a100dd58b81afd5dd4a428 +size 1197194 diff --git a/episodes/c5_p000_e013/meta.json b/episodes/c5_p000_e013/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..145f34f6d85e1bd4d1caff9488d087b189899192 --- /dev/null +++ b/episodes/c5_p000_e013/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/13", + "fps": 25, + "frames": 1212, + "kept_ticks": "even", + "video_frames": { + "wrist": 1212, + "env": 1212 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e013/scene_snapshot.json b/episodes/c5_p000_e013/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..adcc384686181d8b9a9565b72ff8a3b5f3a9e806 --- /dev/null +++ b/episodes/c5_p000_e013/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 13, + "env_id": 2, + "run_id": "c5_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.04624684052879e-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": 0.25060511027114074, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.12820064452246427, + "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": 0.25060511027114074, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.2891225814819336, + 1.1500024795532227, + 0.8999999761581421 + ], + "ori": [ + -1.3880505321139935e-05, + -4.0845893334306993e-10, + -1.8145264457647414e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3006700161355411e-09, + -1.7433232635255536e-10, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -4.7625604793211096e-08, + -1.1935270549656707e-07, + -2.1723174370436027e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2799720764160156, + 1.0625782012939453, + 0.8999999761581421 + ], + "ori": [ + -0.3491918742656708, + -1.373708471419377e-07, + -3.3030229662500687e-09, + 0.9370512962341309 + ], + "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": [ + 9.297792757934076e-09, + -9.23155418774968e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 4.839645271204063e-07, + 9.74987557356144e-08, + -1.3908515938965138e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5487117767333984, + 0.5141448974609375, + 0.8999999761581421 + ], + "ori": [ + 0.9562973380088806, + 3.095327372193424e-08, + -3.93146883936879e-08, + 0.2923961877822876 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.7459687856890014e-09, + 3.6333855923942338e-09, + 0.0 + ], + "angular_velocity": [ + -1.453445150900734e-07, + -5.8279312042941456e-08, + 4.9862528328503686e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.021864891052246094, + 0.45000457763671875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.0576333404374054e-09, + 9.919348675779815e-10, + 7.435472070937976e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.5852539543034254e-09, + 3.045801832968209e-09, + 3.3527612686157227e-08 + ], + "angular_velocity": [ + -2.021462250922923e-07, + 4.4485409489425365e-07, + -2.4403490783697634e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.2822742462158203, + 1.1558141708374023, + 0.9179999828338623 + ], + "ori": [ + -0.08964438736438751, + 6.869014246291272e-10, + -3.784386137795082e-09, + 0.9959738254547119 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3691573208518548e-08, + -1.8132086943012382e-09, + 1.4156103134155273e-07 + ], + "angular_velocity": [ + -6.852722549410828e-07, + 1.6279395822493825e-06, + -3.783575408533579e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.2812538146972656, + 1.0570526123046875, + 0.9180000424385071 + ], + "ori": [ + -0.3597298264503479, + -2.406525538845017e-07, + 1.0582004250636601e-07, + 0.9330565929412842 + ], + "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": [ + 5.2134282668703236e-06, + 9.963398497347953e-07, + -6.232410669326782e-06 + ], + "angular_velocity": [ + 3.664170071715489e-05, + 7.785178604535758e-05, + 3.348807877046056e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.5444822311401367, + 0.5144290924072266, + 0.9180000424385071 + ], + "ori": [ + 0.959682047367096, + -4.1511206916311494e-08, + -6.979861666422948e-08, + 0.2810879051685333 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.308692483500636e-09, + -1.6191364693440846e-07, + -5.8002769947052e-06 + ], + "angular_velocity": [ + 2.581728585937526e-05, + 1.8913324311142787e-05, + 5.656484063365497e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.0307769775390625, + 0.44712162017822266, + 0.9179999828338623 + ], + "ori": [ + 0.9954127073287964, + 3.793902081383749e-09, + 1.3471715964996633e-09, + 0.09567386656999588 + ], + "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": [ + -3.432096207234281e-08, + 7.133802437664372e-09, + -1.0319054126739502e-06 + ], + "angular_velocity": [ + 6.943615744603449e-07, + -2.320662815691321e-06, + -6.063604018891056e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 6.639999999999881, + "step": 1328, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.04624684052879e-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": 0.25060511027114074, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1289, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.13912257552146912, + 0.7000024914741516, + 0.0 + ], + "carrier_2": [ + -1.42997208237648, + 0.6125782132148743, + 0.0 + ], + "carrier_3": [ + 1.398711770772934, + 0.06414490938186646, + 0.0 + ], + "carrier_4": [ + -0.12813511490821838, + 4.589557647705078e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.625780295387297, + 0.4441891910186244, + 3.053467963040282 + ], + "ori": [ + 14.511625308343735, + 4.843758767641113, + -14.87416321014005 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4536.95843147206, + "color": [ + 0.9702571913786251, + 0.8609468429414361, + 0.9969803723555433 + ], + "intensity": 6512.507606348856, + "width": 2.1910549980637444, + "height": 0.9588525919738229 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.4569963295009125, + -0.46050102578407004, + 2.463634690980334 + ], + "ori": [ + -25.478910219977013, + 8.187782139128828, + 5.7613833743507215 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4651.442462600526, + "color": [ + 0.7503278371253611, + 0.8086785490087494, + 0.818126298617047 + ], + "intensity": 2242.4288802304945, + "radius": 0.08457260565492308 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 977.1184459409112, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141020178794861, + -1.719398021697998, + 2.090498924255371, + -1.9419004917144775, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.662856101989746, + -1.4161735773086548, + 2.1364316940307617, + -2.291788101196289, + -1.5707800388336182, + 0.07302087545394897, + 0.007585413753986359, + 0.007032842840999365 + ], + [ + 0.9141013026237488, + -1.7193976640701294, + 2.09049916267395, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 2.1546502113342285, + -2.3729848861694336, + 2.271278142929077, + -1.4677478075027466, + -1.5697447061538696, + 3.737760305404663, + 0.007517561316490173, + 0.007664019241929054 + ] + ], + "joint_vel": [ + [ + 0.0, + -2.895796728992492e-38, + -2.779400394390587e-38, + -4.29138394919223e-37, + 7.230228342801026e-37, + 8.554042400904572e-37, + -1.998146232482672e-38, + 7.310482163203311e-38 + ], + [ + -5.9940524806734174e-05, + 0.015402979217469692, + 0.010079596191644669, + -0.024682283401489258, + -4.714381429948844e-05, + -0.0019403798505663872, + -0.0070953709073364735, + 0.0002287389215780422 + ], + [ + 0.0, + -2.4543776233812315e-38, + -1.6918582614219536e-38, + -3.6031013441333034e-37, + 5.968232846710862e-37, + -2.694016162471491e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + 0.04664551839232445, + -0.032978687435388565, + -0.001741199754178524, + 0.021161841228604317, + 0.0016052001155912876, + 0.035418178886175156, + -0.0034832083620131016, + 0.00042359408689662814 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.0512373223900795, + 0.0038554223719984293, + -0.030950447544455528, + -0.290213018655777, + 0.6452730298042297, + 0.649940550327301, + -0.27744629979133606 + ], + [ + 0.05186672508716583, + 0.0005692930426448584, + -0.031908389180898666, + -0.26960763335227966, + 0.6541050672531128, + 0.6481012105941772, + -0.2818211019039154 + ], + [ + 0.051600996404886246, + 0.0027543704491108656, + -0.031032348051667213, + -0.2777576744556427, + 0.6547814607620239, + 0.6441901922225952, + -0.2813021242618561 + ], + [ + 0.04679156094789505, + -0.0026615248061716557, + -0.029984062537550926, + -0.2952115833759308, + 0.6389342546463013, + 0.6502866744995117, + -0.28590279817581177 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e013/wrist.mp4 b/episodes/c5_p000_e013/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fdb36d28f75498a833790c0b20d985ec709a875c --- /dev/null +++ b/episodes/c5_p000_e013/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96ca04df0abee3c5ab129d96caad2b3cd02c1dbbf9421e1c1c0807741dbfb961 +size 6499394 diff --git a/episodes/c5_p000_e014/data.npz b/episodes/c5_p000_e014/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5b410fa44de5cb61b593b425da18fb5db322ad53 --- /dev/null +++ b/episodes/c5_p000_e014/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f7f68c531760d66aaafc0b7dd4a1bbddaf79272149ecbc512788c428b5e57b2 +size 200999 diff --git a/episodes/c5_p000_e014/device_events.jsonl b/episodes/c5_p000_e014/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad5e49423e781dd69030586273e7651e3499b1fd --- /dev/null +++ b/episodes/c5_p000_e014/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 87, "t": 0.435, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 87, "t": 0.435, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 92, "t": 0.46, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6031, "t": 30.155, "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": 6644, "t": 33.22, "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": 6644, "t": 33.22, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.420978117757579}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6644, "t": 33.22, "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": 6644, "t": 33.22, "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": 6644, "t": 33.22, "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": 7063, "t": 35.315, "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": 7063, "t": 35.315, "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": 7063, "t": 35.315, "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": 7063, "t": 35.315, "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": 7063, "t": 35.315, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7063, "t": 35.315, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7063, "t": 35.315, "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": 7063, "t": 35.315, "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": 7063, "t": 35.315, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.420978117757579}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7548, "t": 37.74, "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": 7548, "t": 37.74, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.4250000000012406}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7548, "t": 37.74, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.4250000000012406}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7548, "t": 37.74, "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": 7548, "t": 37.74, "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": 7548, "t": 37.74, "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": 7968, "t": 39.84, "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": 7968, "t": 39.84, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.2613587658557606e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 7968, "t": 39.84, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.2613587658557606e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 7968, "t": 39.84, "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": 7968, "t": 39.84, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 7968, "t": 39.84, "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": 8547, "t": 42.735, "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": 10828, "t": 54.14, "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": 10828, "t": 54.14, "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": 10828, "t": 54.14, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10828, "t": 54.14, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p000_e014/env.mp4 b/episodes/c5_p000_e014/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..546caabc83a8589443a2c43291eb20526a1ef674 --- /dev/null +++ b/episodes/c5_p000_e014/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cae89cad3805f9f53dbdeb1c55112721816f26b61b6faf0bb00c049351a6fb2f +size 1344246 diff --git a/episodes/c5_p000_e014/meta.json b/episodes/c5_p000_e014/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fc40df13a8f968fccf86cd5106ff63a3b17b88da --- /dev/null +++ b/episodes/c5_p000_e014/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/14", + "fps": 25, + "frames": 1231, + "kept_ticks": "even", + "video_frames": { + "wrist": 1231, + "env": 1231 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e014/scene_snapshot.json b/episodes/c5_p000_e014/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..2e6fdbbe6704881eeea99ebc35d4e3362b071ca9 --- /dev/null +++ b/episodes/c5_p000_e014/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 14, + "env_id": 0, + "run_id": "c5_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5240573883056641, + 0.07274436950683594, + 0.8999999761581421 + ], + "ori": [ + -0.6924200057983398, + 0.0, + 0.0, + 0.7214946746826172 + ], + "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": 0.27002245665734637, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1403250167106496, + "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": 0.27002245665734637, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6969947814941406, + 0.7818918228149414, + 0.8999999761581421 + ], + "ori": [ + 0.7304249405860901, + 2.6123162299995784e-08, + -2.0359857799689962e-08, + 0.6829930543899536 + ], + "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": [ + -1.0794754246035154e-07, + 2.6478161885279405e-09, + 1.7881393432617188e-07 + ], + "angular_velocity": [ + 1.5238472315104445e-06, + -2.0664388102886733e-06, + 1.4384186215465888e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.009735107421875, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.9310593124544084e-09, + 5.7170969347541956e-11, + -3.51549570041243e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.1674996786866814e-11, + 1.0356302482250612e-09, + 0.0 + ], + "angular_velocity": [ + -5.8156572890766256e-08, + -4.427022304298589e-09, + 3.1437696890179723e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3764152526855469, + 0.6799850463867188, + 0.8999999761581421 + ], + "ori": [ + -0.8138976097106934, + -2.5956666149795637e-08, + -5.965199534330168e-08, + 0.5810084342956543 + ], + "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": [ + 2.0084406360254548e-10, + -2.5192031793963565e-10, + 0.0 + ], + "angular_velocity": [ + 3.1303464709253603e-08, + -1.4982575180511049e-09, + -4.9495501031060485e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4835233688354492, + 1.1499853134155273, + 0.8999999761581421 + ], + "ori": [ + -0.00013285392196848989, + -2.267278986778365e-08, + -5.4263992410596984e-08, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.719449637173966e-09, + 1.3222043548921647e-07, + -2.682209014892578e-07 + ], + "angular_velocity": [ + -2.3111915652407333e-06, + -3.412262685742462e-06, + -2.0523543753370177e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.692378044128418, + 0.7827796936035156, + 0.9179999828338623 + ], + "ori": [ + 0.7162965536117554, + 3.8150045611473615e-07, + 1.517124843530837e-07, + 0.6977960467338562 + ], + "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": [ + -2.4146715986717027e-06, + 2.8078534342057537e-06, + -2.2836029529571533e-06 + ], + "angular_velocity": [ + -3.291225584689528e-05, + -0.00010213917994406074, + 3.043380274903029e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.000324249267578125, + 0.44896602630615234, + 0.9180000424385071 + ], + "ori": [ + 0.9977452158927917, + -2.6332049873900587e-09, + 1.025778462171445e-09, + 0.06711631268262863 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3858500125252249e-08, + 9.238351417195645e-09, + -5.420297384262085e-06 + ], + "angular_velocity": [ + 3.4145000427088235e-07, + -1.1282957075309241e-06, + 9.054994620782963e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.3675575256347656, + 0.6798791885375977, + 0.9180000424385071 + ], + "ori": [ + -0.8253628611564636, + -2.699993117971644e-08, + -5.8909439104581907e-08, + 0.5646026730537415 + ], + "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": [ + -1.7030298948839118e-08, + 1.9404598816663565e-08, + -6.07222318649292e-06 + ], + "angular_velocity": [ + -1.0034896149591077e-06, + -1.140889025919023e-06, + -5.1774811993254843e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.48018646240234375, + 1.1609830856323242, + 0.9179999828338623 + ], + "ori": [ + 0.04376025125384331, + -2.5312277784905746e-07, + -1.7797447071643546e-08, + 0.9990421533584595 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.6760958462546114e-06, + 9.000169484352227e-06, + -1.3787299394607544e-05 + ], + "angular_velocity": [ + -0.0003007848863489926, + 5.480770778376609e-05, + -1.821026307879947e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 5.059999999999914, + "step": 1012, + "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": 0.27002245665734637, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 924, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5469947755336761, + 0.33189183473587036, + 0.0 + ], + "carrier_2": [ + -0.14026489853858948, + 2.682209014892578e-06, + 0.0 + ], + "carrier_3": [ + -1.5264152586460114, + 0.2299850583076477, + 0.0 + ], + "carrier_4": [ + 0.33352336287498474, + 0.6999853253364563, + 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": [ + 0.6129476276163518, + -0.24012553162712036, + 2.9095146300324948 + ], + "ori": [ + 12.386048243996616, + -14.056057726581033, + -0.5479552040890461 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7015.986536047355, + "color": [ + 0.9605635683447755, + 0.9660407175632482, + 0.8093630254387182 + ], + "intensity": 5970.6597268194655, + "width": 2.0655984222048747, + "height": 0.971669676935776 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.06309349569794231, + 0.1993742682838997, + 2.3670566116940677 + ], + "ori": [ + -15.132781603562037, + -16.857225322622654, + 25.29609236443943 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 2807.1853169662445, + "color": [ + 0.8185392381024692, + 0.9260929198939327, + 0.7984031145185086 + ], + "intensity": 6123.678054617609, + "radius": 0.3840914370082473 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 977.1184459409112, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141020178794861, + -1.719398021697998, + 2.090498924255371, + -1.9419004917144775, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.66390860080719, + -1.2632436752319336, + 2.208076238632202, + -2.516000509262085, + -1.5704023838043213, + 0.0718938559293747, + 0.017999989911913872, + 0.017999989911913872 + ], + [ + 0.9612670540809631, + -1.2345415353775024, + 2.130455255508423, + -2.4666709899902344, + -1.5707963705062866, + 2.340517997741699, + 0.01800004206597805, + 0.017999956384301186 + ], + [ + 2.7048723697662354, + -1.937983512878418, + 2.099315881729126, + -1.7318360805511475, + -1.569301962852478, + 4.274970531463623, + 0.007746052462607622, + 0.0072146328166127205 + ] + ], + "joint_vel": [ + [ + 0.0, + -2.895796728992492e-38, + -2.779400394390587e-38, + -4.29138394919223e-37, + 7.230228342801026e-37, + 8.554042400904572e-37, + -1.998146232482672e-38, + 7.310482163203311e-38 + ], + [ + 3.4059648896800354e-06, + 3.4059203244396485e-06, + 6.81192432239186e-06, + -5.505546539497086e-12, + 3.4059787594742374e-06, + -6.386208610820177e-07, + 1.2995499787393783e-07, + 1.2995008091820637e-07 + ], + [ + -0.00011641190940281376, + 0.01654147356748581, + 0.005327196326106787, + -0.020668184384703636, + -9.91051274468191e-06, + -5.499152757693082e-05, + -7.364959856204223e-06, + 7.366124918917194e-06 + ], + [ + 0.010778910480439663, + 0.024865727871656418, + -0.015020978637039661, + -0.00949968583881855, + 0.0016219834797084332, + 0.006471941713243723, + -0.006538497284054756, + 0.0002403912803856656 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05115799978375435, + 0.0013091674773022532, + -0.029784221202135086, + -0.2923572063446045, + 0.6396093964576721, + 0.655370831489563, + -0.2755288779735565 + ], + [ + 0.053579140454530716, + -0.000797622196841985, + -0.030223393812775612, + -0.2659001648426056, + 0.6568317413330078, + 0.6484822630882263, + -0.27810055017471313 + ], + [ + 0.053817830979824066, + 0.003620340023189783, + -0.03285685554146767, + -0.2772250473499298, + 0.6568726301193237, + 0.6402079463005066, + -0.2860042154788971 + ], + [ + 0.048265524208545685, + 0.0007806125213392079, + -0.0320756621658802, + -0.29259389638900757, + 0.644019603729248, + 0.6501902937889099, + -0.2772727906703949 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e014/wrist.mp4 b/episodes/c5_p000_e014/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b3bd3bf8baf22cfc28f0b79a903e987c52fb5cf8 --- /dev/null +++ b/episodes/c5_p000_e014/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c80375a8cad485bb3ed6f79637594fa61731014269be9e1a9049d27d425ff54 +size 7019803 diff --git a/episodes/c5_p000_e015/data.npz b/episodes/c5_p000_e015/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..bb14803503d721ede997f343457e0c7d819de4c4 --- /dev/null +++ b/episodes/c5_p000_e015/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54a79bc1a2f636bba737469aeac72a466079b958efca971bd1162fa2d5f9f386 +size 189397 diff --git a/episodes/c5_p000_e015/device_events.jsonl b/episodes/c5_p000_e015/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bb315a5945a98453197b5b7e93a4dff56db6b117 --- /dev/null +++ b/episodes/c5_p000_e015/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 1, "seq": 1, "step": 77, "t": 0.385, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 77, "t": 0.385, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 82, "t": 0.41, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1743, "t": 8.715, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 1759, "t": 8.795, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 6619, "t": 33.095, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 7, "step": 7232, "t": 36.16, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 7232, "t": 36.16, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.724938934536242}, "cause": "task-1-1"} +{"env_id": 1, "seq": 9, "step": 7232, "t": 36.16, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 7232, "t": 36.16, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 7232, "t": 36.16, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 13, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 15, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 16, "step": 7651, "t": 38.255, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 18, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.724938934536242}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8596, "t": 42.98, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 22, "step": 8596, "t": 42.98, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.725000000002417}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 8596, "t": 42.98, "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": 4.725000000002417}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 24, "step": 8596, "t": 42.98, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 25, "step": 8596, "t": 42.98, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 8596, "t": 42.98, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 9016, "t": 45.08, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 28, "step": 9016, "t": 45.08, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.6082362871983058e-11}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 9016, "t": 45.08, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.6082362871983058e-11}, "cause": "program-1-4"} +{"env_id": 1, "seq": 30, "step": 9016, "t": 45.08, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 31, "step": 9016, "t": 45.08, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 32, "step": 9016, "t": 45.08, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 33, "step": 9594, "t": 47.97, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 34, "step": 11276, "t": 56.38, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 11276, "t": 56.38, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 36, "step": 11276, "t": 56.38, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 37, "step": 11276, "t": 56.38, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p000_e015/env.mp4 b/episodes/c5_p000_e015/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4da17a790573e167051951dd15263320aec1a256 --- /dev/null +++ b/episodes/c5_p000_e015/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba4393c939614ca46a557df5b2623c5bbd393f8be933b49e0b6e3ad89dba476b +size 1334200 diff --git a/episodes/c5_p000_e015/meta.json b/episodes/c5_p000_e015/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9687a678ad1ec300c34f2efd5a308bc16319fbb6 --- /dev/null +++ b/episodes/c5_p000_e015/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/15", + "fps": 25, + "frames": 1251, + "kept_ticks": "even", + "video_frames": { + "wrist": 1251, + "env": 1251 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e015/scene_snapshot.json b/episodes/c5_p000_e015/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..f976eea3c57a0ed626a598d98cc50854710cca09 --- /dev/null +++ b/episodes/c5_p000_e015/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 15, + "env_id": 1, + "run_id": "c5_p000", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5098752975463867, + 0.08571529388427734, + 0.8999999761581421 + ], + "ori": [ + 0.7111824154853821, + 0.0, + 0.0, + -0.7030075192451477 + ], + "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": 0.20004135250053437, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.07694345949119646, + "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": 0.20004135250053437, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.07276344299316406, + 0.4499969482421875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -3.964178763027348e-09, + 3.6524099300550006e-09, + 6.631700216530589e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.739486663713933e-11, + -2.0523249766313256e-11, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -3.8986897266113374e-08, + -1.4207130583088201e-08, + -1.0278697004650894e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6908693313598633, + 0.7324466705322266, + 0.8999999761581421 + ], + "ori": [ + 0.7808923125267029, + -5.770084499090444e-08, + 2.9663906886412406e-08, + 0.6246658563613892 + ], + "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": [ + 3.866883757641659e-10, + -3.369883538884011e-10, + 0.0 + ], + "angular_velocity": [ + 3.308183949002341e-08, + 2.90931225777058e-08, + -2.3437873863940695e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1659307479858398, + 1.1266002655029297, + 0.8999999761581421 + ], + "ori": [ + -0.1632225513458252, + -1.4915880797161662e-07, + 8.346633961764383e-08, + 0.9865893721580505 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.657343399827596e-09, + -4.8820471221233674e-08, + -4.0978193283081055e-08 + ], + "angular_velocity": [ + 2.6570187401375733e-06, + 4.924918926008104e-07, + -2.3246438729529473e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.48444080352783203, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + -1.0434950127091724e-05, + -1.1786591702644955e-09, + -1.6167920335874442e-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": [ + 3.776885471040714e-10, + -2.427878342814438e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.8968435711030907e-07, + 5.905053157562179e-08, + -8.338775003835508e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.060898780822753906, + 0.4543333053588867, + 0.9179999828338623 + ], + "ori": [ + 0.9956149458885193, + -2.825888634205853e-09, + 3.6619969279172437e-09, + 0.09354649484157562 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.121035080904221e-08, + -1.4526380098800473e-08, + 9.685754776000977e-08 + ], + "angular_velocity": [ + 1.0583831908661523e-06, + -1.372866790916305e-06, + 5.824505677765046e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.69580078125, + 0.7315807342529297, + 0.9180000424385071 + ], + "ori": [ + 0.8324353098869324, + -6.034224497852847e-08, + 2.3682170890992893e-08, + 0.5541223287582397 + ], + "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": [ + -5.444273920574005e-09, + -1.2782809477585033e-08, + -5.152076482772827e-06 + ], + "angular_velocity": [ + 1.2741583077513496e-06, + -2.2524876897023205e-07, + 8.663052497581702e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.1608152389526367, + 1.1307373046875, + 0.9179999828338623 + ], + "ori": [ + -0.15684503316879272, + -1.5037593925626425e-07, + 8.392618866537305e-08, + 0.9876232743263245 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.1511525833138876e-08, + -6.492302873084554e-08, + -5.5730342864990234e-06 + ], + "angular_velocity": [ + 2.1849141376151238e-06, + 1.461889041820541e-06, + -1.0822797946730134e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.49065113067626953, + 1.150313377380371, + 0.9179999828338623 + ], + "ori": [ + -0.05374642461538315, + 3.4833669282363644e-10, + -3.2381233250333707e-09, + 0.9985547065734863 + ], + "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": [ + 5.7879702808349975e-08, + -3.6503813305444055e-09, + 1.564621925354004e-07 + ], + "angular_velocity": [ + -4.2857789139816305e-07, + 2.4859089080564445e-06, + 1.794655162257186e-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": 6.539999999999883, + "step": 1308, + "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": 0.20004135250053437, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1230, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.07723656296730042, + -3.039836883544922e-06, + 0.0 + ], + "carrier_2": [ + 1.5408693253993988, + 0.2824466824531555, + 0.0 + ], + "carrier_3": [ + -1.3159307539463043, + 0.6766002774238586, + 0.0 + ], + "carrier_4": [ + 0.33444079756736755, + 0.6999977231025696, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.3040022353453038, + -0.32329577135243276, + 2.820255785328331 + ], + "ori": [ + 7.525052129929158, + 0.5192804556376895, + 13.823193828749467 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4963.98894975073, + "color": [ + 0.9712582739943578, + 0.9712036495563349, + 0.8231424310561672 + ], + "intensity": 8796.161737035214, + "width": 2.687319738561575, + "height": 1.17580703077462 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.7877162102102062, + 1.146111966948706, + 2.294222909287848 + ], + "ori": [ + -18.936262389177003, + 20.25686720592862, + 25.96881989642648 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7334.161815175278, + "color": [ + 0.8149644773904818, + 0.8047439278772127, + 0.808582134201967 + ], + "intensity": 2140.5225311492636, + "radius": 0.13363525225927264 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 977.1184459409112, + "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": [ + [ + 2.307088851928711, + -2.476383924484253, + 2.2959330081939697, + -1.391433835029602, + -1.569662094116211, + 3.8774545192718506, + 0.0076311812736094, + 0.006883750203996897 + ], + [ + 0.9141108989715576, + -1.719395399093628, + 2.0904974937438965, + -1.941900372505188, + -1.5707999467849731, + 2.484905242919922, + 0.01799999363720417, + 0.018000004813075066 + ], + [ + 2.742035150527954, + -1.546085238456726, + 2.398900032043457, + -2.423844337463379, + -1.570839285850525, + 4.31355619430542, + 0.007827459834516048, + 0.007209714502096176 + ], + [ + 2.804368734359741, + -1.6665936708450317, + 1.9058669805526733, + -1.8100467920303345, + -1.5707228183746338, + 4.375140190124512, + 0.007757664192467928, + 0.007188522722572088 + ] + ], + "joint_vel": [ + [ + 0.009419821202754974, + -0.007522668223828077, + 0.0013994988985359669, + 0.005655378103256226, + 0.0003061292227357626, + 0.009039681404829025, + -0.009533544071018696, + 0.00035810822737403214 + ], + [ + -2.7562803710276917e-38, + 2.8759666741641386e-38, + 1.5473392679395137e-38, + 3.339477866636804e-37, + -6.413349362398151e-37, + 2.0966606534332666e-37, + 7.797115131324972e-08, + -7.797118684038651e-08 + ], + [ + 0.00917009450495243, + 0.021693570539355278, + -0.023450244218111038, + 0.0002748872502706945, + 0.0003201764775440097, + 0.008424646221101284, + -0.0073428028263151646, + 0.0003977265441790223 + ], + [ + -8.862211689120159e-05, + 0.00019507903198245913, + -0.00015503104077652097, + -0.0006670074071735144, + -0.0021791504696011543, + 0.0052497731521725655, + -0.007540872786194086, + 0.00040021559107117355 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04969486594200134, + 0.0015737446956336498, + -0.03274279460310936, + -0.291515976190567, + 0.6374745965003967, + 0.6575828194618225, + -0.27609673142433167 + ], + [ + 0.0505189448595047, + -0.0014124931767582893, + -0.03232402354478836, + -0.26853400468826294, + 0.6538974046707153, + 0.6477563381195068, + -0.28411155939102173 + ], + [ + 0.0536421500146389, + 0.0016902319621294737, + -0.0328361839056015, + -0.2756064832210541, + 0.651615560054779, + 0.6446307897567749, + -0.2896365523338318 + ], + [ + 0.047483328729867935, + 8.962560968939215e-05, + -0.031858835369348526, + -0.28975310921669006, + 0.6407250761985779, + 0.6537219285964966, + -0.27957502007484436 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e015/wrist.mp4 b/episodes/c5_p000_e015/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d39b69c27f065b702d3f50492595e7d2a093969c --- /dev/null +++ b/episodes/c5_p000_e015/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2754be3b838146da399bf7ed172cbb28f3276308893e76240220cc1825173be +size 7767326 diff --git a/episodes/c5_p000_e016/data.npz b/episodes/c5_p000_e016/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..9d6d2d5c6c95f8aab2caa83067048c6678b23b85 --- /dev/null +++ b/episodes/c5_p000_e016/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2803fff37308745e6fffef5157bb03923dff9c31e78f4c8abc458245e62110b +size 187526 diff --git a/episodes/c5_p000_e016/device_events.jsonl b/episodes/c5_p000_e016/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4d5f41e160ad5ffc0e4f2fb344b6a47e8fdf2f2e --- /dev/null +++ b/episodes/c5_p000_e016/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 59, "t": 0.295, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 59, "t": 0.295, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 64, "t": 0.32, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6055, "t": 30.275, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6672, "t": 33.36, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 6672, "t": 33.36, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.4689335261358134}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6672, "t": 33.36, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 6672, "t": 33.36, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6672, "t": 33.36, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7091, "t": 35.455, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.4689335261358134}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7585, "t": 37.925, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7585, "t": 37.925, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.4700000000012636}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7585, "t": 37.925, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.4700000000012636}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7585, "t": 37.925, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 7585, "t": 37.925, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7585, "t": 37.925, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8005, "t": 40.025, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8005, "t": 40.025, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.6749175197646764e-08}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8005, "t": 40.025, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.6749175197646764e-08}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8005, "t": 40.025, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8005, "t": 40.025, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8005, "t": 40.025, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8582, "t": 42.91, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 10304, "t": 51.52, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 10304, "t": 51.52, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10304, "t": 51.52, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 10304, "t": 51.52, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p000_e016/env.mp4 b/episodes/c5_p000_e016/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..eda02151387e21bacc565ca986b918b4cd592613 --- /dev/null +++ b/episodes/c5_p000_e016/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f79c69d28849164f894f5f7530bfb882f988f78373e67226272c81b187c04764 +size 1275351 diff --git a/episodes/c5_p000_e016/meta.json b/episodes/c5_p000_e016/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a43db62b2bb1b0780d58d0b6d63f82a8df4c8949 --- /dev/null +++ b/episodes/c5_p000_e016/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/16", + "fps": 25, + "frames": 1196, + "kept_ticks": "even", + "video_frames": { + "wrist": 1196, + "env": 1196 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e016/scene_snapshot.json b/episodes/c5_p000_e016/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..222d1936ae9308081ce32e0617fee81d2bdd36aa --- /dev/null +++ b/episodes/c5_p000_e016/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 16, + "env_id": 3, + "run_id": "c5_p000", + "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_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.3549166089376072e-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": 0.24854022452450908, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.04749685274499543, + "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": 0.24854022452450908, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3192930221557617, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + 3.079486850765534e-05, + 5.191596597065029e-10, + -1.219184753153968e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.490423423040511e-10, + -2.3242008317936325e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.8411590474443074e-07, + -1.6841635641640096e-08, + -2.475275984181735e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1030435562133789, + 0.45000362396240234, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.082568061392067e-09, + -1.8458237716068027e-10, + -3.70366578863468e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.03540534321678e-10, + 2.6029094435386924e-09, + 0.0 + ], + "angular_velocity": [ + -2.6223173676953593e-07, + 2.1699079866266402e-08, + -1.0739909406254355e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.127096176147461, + 1.1379003524780273, + 0.8999999761581421 + ], + "ori": [ + -0.10270701348781586, + 1.0272144379541714e-07, + -1.083535394741375e-08, + 0.994711697101593 + ], + "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": [ + -4.655664742614363e-12, + 1.002285032747352e-09, + 0.0 + ], + "angular_velocity": [ + -4.1081886337224205e-08, + -2.8384228301092662e-09, + -4.521377938715432e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5523319244384766, + 1.0842294692993164, + 0.8999999761581421 + ], + "ori": [ + 0.3053690195083618, + -8.76810517524973e-08, + 3.8496359877626674e-08, + 0.9522340893745422 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.054369912547372e-08, + -3.352279875912245e-08, + -1.862645149230957e-08 + ], + "angular_velocity": [ + 3.831020194411394e-07, + -1.349626245428226e-06, + 3.0958364050093223e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.3063983917236328, + 1.1608409881591797, + 0.9179999828338623 + ], + "ori": [ + -0.07696907222270966, + 6.648404604625568e-10, + -3.2016373996412995e-09, + 0.9970335364341736 + ], + "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": [ + 3.776581181114125e-08, + -1.858140130650554e-08, + 1.0058283805847168e-07 + ], + "angular_velocity": [ + 4.748231390294677e-07, + 1.7581813835931825e-06, + 2.1809472627865034e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.11599254608154297, + 0.45095157623291016, + 0.9180000424385071 + ], + "ori": [ + 0.9998778104782104, + 2.5979984830115654e-09, + 1.729777432402102e-10, + -0.015636593103408813 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.3065283016876492e-08, + 1.641763702764365e-08, + -4.8354268074035645e-06 + ], + "angular_velocity": [ + -1.2200882792967604e-07, + -1.7792211792766466e-06, + 1.257132993259802e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.1203117370605469, + 1.1325111389160156, + 0.9180000424385071 + ], + "ori": [ + -0.10795046389102936, + 1.0193799937496806e-07, + -1.6672933256245415e-08, + 0.9941563010215759 + ], + "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": [ + 1.7945335883950975e-08, + 5.212750764371776e-08, + -5.97536563873291e-06 + ], + "angular_velocity": [ + -4.260657988197636e-06, + -7.770017873554025e-08, + 7.741906671299148e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.5553741455078125, + 1.0805902481079102, + 0.9179999828338623 + ], + "ori": [ + 0.33618083596229553, + 1.505449205296827e-07, + 1.1016559255949687e-06, + 0.9417975544929504 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.327083277326892e-06, + -1.2487722415244207e-05, + -2.726912498474121e-06 + ], + "angular_velocity": [ + 0.00018866629397962242, + -0.0001378920569550246, + 4.591759716277011e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 3.8399999999999403, + "step": 768, + "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": 2.3549166089376072e-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": 0.24854022452450908, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 708, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.16929301619529724, + 0.6999977231025696, + 0.0 + ], + "carrier_2": [ + -0.04695644974708557, + 3.635883331298828e-06, + 0.0 + ], + "carrier_3": [ + -1.2770961821079254, + 0.6879003643989563, + 0.0 + ], + "carrier_4": [ + 1.402331918478012, + 0.6342294812202454, + 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": [ + 0.5608819653507208, + 0.4621403086810453, + 3.0229704483023183 + ], + "ori": [ + -12.063532365341576, + -13.453246303696282, + 6.83391736813951 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3883.2987471546558, + "color": [ + 0.8869127256489366, + 0.976770316252731, + 0.8625936465152622 + ], + "intensity": 4289.528878286004, + "width": 2.145363186684969, + "height": 1.8398436278993886 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.8842079081554894, + 0.3778960076471758, + 2.6675278029537757 + ], + "ori": [ + -15.46285974128483, + 13.318264752204186, + -19.18903368307018 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6252.316065737277, + "color": [ + 0.9883088346384099, + 0.7883874437834604, + 0.9110565160246462 + ], + "intensity": 8072.919061214771, + "radius": 0.17003543131148527 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 977.1184459409112, + "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": [ + [ + 0.11949185281991959, + -2.1119754314422607, + 2.3820042610168457, + -1.8406903743743896, + -1.5708075761795044, + 3.838355779647827, + 0.007642681710422039, + 0.007020199205726385 + ], + [ + -0.03187030181288719, + -2.1335372924804688, + 2.3087551593780518, + -1.7459962368011475, + -1.5704950094223022, + 4.7204060554504395, + 0.018000002950429916, + 0.01799999549984932 + ], + [ + 0.5206211805343628, + -1.9089592695236206, + 2.30293345451355, + -1.9646451473236084, + -1.5709561109542847, + 5.236279487609863, + 0.007835566997528076, + 0.007201774045825005 + ], + [ + 0.9141010046005249, + -1.7193975448608398, + 2.090498924255371, + -1.9419004917144775, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ] + ], + "joint_vel": [ + [ + 0.027228083461523056, + 0.01171923615038395, + -0.005045504309237003, + -0.007065128069370985, + 2.582817614893429e-05, + -0.07206594198942184, + -0.00813819095492363, + 0.00035496478085406125 + ], + [ + 3.1930821364767326e-07, + -6.8118347371637356e-06, + -1.3623862287204247e-05, + -3.4059673907904653e-06, + 6.811957518948475e-06, + 2.6820163928284457e-13, + -5.198134189754455e-08, + 5.198043950827014e-08 + ], + [ + 0.07220286130905151, + 0.029485559090971947, + -0.012631830759346485, + -0.017786091193556786, + -0.00025614083278924227, + 0.0728822872042656, + -0.007890910841524601, + 0.0007105885888449848 + ], + [ + 2.3022222539174535e-38, + -1.9621152055888736e-38, + 1.2895191279031693e-38, + -5.736313242502264e-37, + 5.770556492815277e-37, + -2.9911362784592107e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05227668955922127, + 0.0008624409092590213, + -0.030667487531900406, + -0.28946438431739807, + 0.6385419368743896, + 0.6544467210769653, + -0.28315025568008423 + ], + [ + 0.05007258430123329, + -0.002773205516859889, + -0.03345848619937897, + -0.2690189778804779, + 0.6521068811416626, + 0.6527533531188965, + -0.27622175216674805 + ], + [ + 0.05211615189909935, + 0.0005966814351268113, + -0.03329659253358841, + -0.27226996421813965, + 0.659527599811554, + 0.6400875449180603, + -0.2849215567111969 + ], + [ + 0.04832370579242706, + -0.00042511773062869906, + -0.03092491440474987, + -0.29331910610198975, + 0.6392640471458435, + 0.6536194086074829, + -0.27944064140319824 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e016/wrist.mp4 b/episodes/c5_p000_e016/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cfe86f4e28d55d5edce18bd450e8bc1211309007 --- /dev/null +++ b/episodes/c5_p000_e016/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9866551281858e06b07c8e8d809b98ac15d7c36e70d7190981243f68643ab3b4 +size 6870368 diff --git a/episodes/c5_p000_e017/data.npz b/episodes/c5_p000_e017/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..0cd05771b02254b5fd181cbe00e784c3de785b7d --- /dev/null +++ b/episodes/c5_p000_e017/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dae014e6739b35441fcf1324d0d97ac7714b624abd8adb7e084e04abb740f115 +size 186197 diff --git a/episodes/c5_p000_e017/device_events.jsonl b/episodes/c5_p000_e017/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ab6046b35e79f7f9c0a534c1e96137377b2bc98 --- /dev/null +++ b/episodes/c5_p000_e017/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 107, "t": 0.535, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 107, "t": 0.535, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 112, "t": 0.56, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 917, "t": 4.585, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 5543, "t": 27.715, "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": 6152, "t": 30.76, "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": 6152, "t": 30.76, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.1019132114338586}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6152, "t": 30.76, "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": 6152, "t": 30.76, "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": 6152, "t": 30.76, "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": 6571, "t": 32.855, "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": 6571, "t": 32.855, "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": 6571, "t": 32.855, "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": 6571, "t": 32.855, "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": 6571, "t": 32.855, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 6571, "t": 32.855, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 6571, "t": 32.855, "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": 6571, "t": 32.855, "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": 6571, "t": 32.855, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.1019132114338586}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 7192, "t": 35.96, "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": 7192, "t": 35.96, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.1050000000015885}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7192, "t": 35.96, "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": 3.1050000000015885}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7192, "t": 35.96, "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": 7192, "t": 35.96, "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": 7192, "t": 35.96, "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": 7612, "t": 38.06, "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": 7612, "t": 38.06, "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": 7612, "t": 38.06, "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": 7612, "t": 38.06, "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": 7612, "t": 38.06, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 7612, "t": 38.06, "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": 8191, "t": 40.955, "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": 9928, "t": 49.64, "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": 9928, "t": 49.64, "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": 9928, "t": 49.64, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 9928, "t": 49.64, "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/c5_p000_e017/env.mp4 b/episodes/c5_p000_e017/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dfa3d15090cbd3f78a898d77fc5d788f1ef05876 --- /dev/null +++ b/episodes/c5_p000_e017/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24825039c0035ac6b747689f173dcec29e24475b45fad1406d73800ae76bc064 +size 1206660 diff --git a/episodes/c5_p000_e017/meta.json b/episodes/c5_p000_e017/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9d0dea23b80c29f810f54257860f8f720465a89 --- /dev/null +++ b/episodes/c5_p000_e017/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/17", + "fps": 25, + "frames": 1188, + "kept_ticks": "even", + "video_frames": { + "wrist": 1188, + "env": 1188 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e017/scene_snapshot.json b/episodes/c5_p000_e017/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..8c163d6a2d3d054665de77578b234961bdad1ec5 --- /dev/null +++ b/episodes/c5_p000_e017/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 17, + "env_id": 2, + "run_id": "c5_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.364167397348211e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.19103135596987164, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.13533920122392512, + "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": 0.19103135596987164, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6965255737304688, + 0.7737531661987305, + 0.8999999761581421 + ], + "ori": [ + 0.7366201281547546, + -5.97422200598885e-08, + 9.922986521360144e-08, + 0.6763067245483398 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.713592881624209e-08, + 1.0656460744939977e-06, + -2.376735210418701e-06 + ], + "angular_velocity": [ + -9.13761105039157e-05, + -2.4299602046085056e-06, + 1.647007934479916e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.01522064208984375, + 0.45000362396240234, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -5.546224035590797e-10, + -4.246846485589373e-10, + -5.6112654419848695e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.5682679861158704e-10, + 7.595148954209208e-10, + 0.0 + ], + "angular_velocity": [ + -9.125852074021168e-08, + -5.368988098553018e-08, + -9.192648420253136e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3165569305419922, + 0.57470703125, + 0.8999999761581421 + ], + "ori": [ + -0.9064831733703613, + 1.3349940708451413e-08, + 2.7216746190106278e-08, + 0.4222419559955597 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.239765371063299e-10, + -6.664200302708423e-10, + 0.0 + ], + "angular_velocity": [ + 4.304662581944285e-08, + -4.790507546204026e-08, + 2.1519437343187064e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5213212966918945, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 0.00010160096280742437, + -2.0270923828391574e-11, + -1.1059695381732126e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.450717128179349e-09, + -1.4037797591015533e-09, + 2.9802322387695312e-08 + ], + "angular_velocity": [ + 1.0372043135475906e-07, + -4.3724901388486614e-07, + -1.123508486244873e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.6846847534179688, + 0.7749977111816406, + 0.9179999828338623 + ], + "ori": [ + 0.6823552250862122, + -4.333761012276227e-07, + -9.274663170799613e-08, + 0.7310208082199097 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8625541997607797e-07, + -2.295544618391432e-06, + -1.3075768947601318e-05 + ], + "angular_velocity": [ + -6.364251021295786e-05, + -0.00016532551671843976, + 1.0737967386376113e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.018217086791992188, + 0.4530525207519531, + 0.9180000424385071 + ], + "ori": [ + 0.9994837641716003, + -1.8423057523975217e-09, + -2.373941876410157e-10, + 0.032129961997270584 + ], + "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": [ + -2.0436610626006768e-08, + 8.453607591718537e-09, + -5.025416612625122e-06 + ], + "angular_velocity": [ + 3.048503458558116e-07, + -1.6569473473282414e-06, + 8.365732639958878e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -1.308213233947754, + 0.5724725723266602, + 0.9180000424385071 + ], + "ori": [ + -0.8898736238479614, + 1.3934191578357513e-08, + 2.7063983054631535e-08, + 0.4562072157859802 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3387213115834129e-08, + 1.2807512383972153e-08, + -5.319714546203613e-06 + ], + "angular_velocity": [ + -7.702582252022694e-07, + -1.4954061953176279e-06, + 3.092409883720393e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.5175228118896484, + 1.1417198181152344, + 0.9179999828338623 + ], + "ori": [ + 0.09482050687074661, + 1.3661827225064371e-10, + -2.76005596155926e-09, + 0.9954944252967834 + ], + "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": [ + 5.5630106743365104e-08, + 1.89387741045266e-08, + -1.1101365089416504e-06 + ], + "angular_velocity": [ + -1.0233239891022095e-06, + 3.3492215152364224e-06, + -2.1406671990575887e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 2.3399999999999723, + "step": 468, + "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": 3.364167397348211e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.19103135596987164, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 360, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5465255677700043, + 0.3237531781196594, + 0.0 + ], + "carrier_2": [ + -0.13477936387062073, + 3.635883331298828e-06, + 0.0 + ], + "carrier_3": [ + -1.4665569365024567, + 0.12470704317092896, + 0.0 + ], + "carrier_4": [ + 0.37132129073143005, + 0.6999967694282532, + 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": [ + -0.4420721529824843, + 0.5596242027284781, + 3.1266706835870397 + ], + "ori": [ + 5.674743840549663, + -1.7686504728898598, + -17.436706003804257 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5291.094994253353, + "color": [ + 0.8506729265513324, + 0.8147833448967272, + 0.9954000507683313 + ], + "intensity": 12717.843130859825, + "width": 2.187366539531813, + "height": 1.6668513815593597 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.3652935927481178, + 1.008878415827961, + 2.7766254545456537 + ], + "ori": [ + 10.368723340488188, + 7.129638301475069, + 13.745678028652662 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 2877.771281262147, + "color": [ + 0.9339172862837853, + 0.8343722051554721, + 0.8488016991579022 + ], + "intensity": 2534.3449882284112, + "radius": 0.12313519800911546 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 977.1184459409112, + "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": [ + [ + 1.5636513233184814, + -1.5521341562271118, + 2.0690901279449463, + -2.0879247188568115, + -1.570264220237732, + -0.008049161173403263, + 0.018000049516558647, + 0.017999950796365738 + ], + [ + -0.03364352136850357, + -1.8756732940673828, + 2.6254990100860596, + -2.3206775188446045, + -1.5707216262817383, + 4.716820240020752, + 0.007779220584779978, + 0.007026694715023041 + ], + [ + 0.9141027331352234, + -1.7193976640701294, + 2.090498924255371, + -1.941900372505188, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.676217794418335, + -2.0421037673950195, + 2.2686426639556885, + -1.7974095344543457, + -1.5708180665969849, + 3.2601852416992188, + 0.007704279851168394, + 0.007145191542804241 + ] + ], + "joint_vel": [ + [ + 0.0001024577213684097, + -0.008119910955429077, + -0.008826876990497112, + 0.016096042469143867, + -7.77252353145741e-06, + 2.3575450541102327e-05, + -3.38206200467539e-06, + 3.3573098789929645e-06 + ], + [ + -0.0006653644377365708, + -8.418985089519992e-05, + 0.0006108636735007167, + 0.00020611472427845, + -0.00314466399140656, + 0.00705533055588603, + -0.01016064640134573, + 0.00042268747347407043 + ], + [ + 5.108946879772702e-06, + 3.405956476854044e-06, + -6.811950242990861e-06, + 2.163229231161301e-12, + 2.571682016644372e-13, + 1.3074178241770373e-12, + 2.5990621210780773e-08, + -2.5990313901047557e-08 + ], + [ + 0.07372303307056427, + -0.054052263498306274, + 0.022583838552236557, + 0.028121311217546463, + 6.988968380028382e-05, + 0.07220117002725601, + -0.007518047466874123, + 0.0005483594723045826 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.053353916853666306, + 0.002375090727582574, + -0.030538568273186684, + -0.2863948941230774, + 0.6410288214683533, + 0.6568951606750488, + -0.27486133575439453 + ], + [ + 0.05160070210695267, + 0.00042938970727846026, + -0.03191716596484184, + -0.26855766773223877, + 0.6575018167495728, + 0.6459096074104309, + -0.2799445390701294 + ], + [ + 0.05675393342971802, + 0.0024432784412056208, + -0.0343930646777153, + -0.2765558063983917, + 0.6587831377983093, + 0.6377527117729187, + -0.28773796558380127 + ], + [ + 0.048804111778736115, + -0.0006199341733008623, + -0.03236904367804527, + -0.29633262753486633, + 0.6408547163009644, + 0.6514548063278198, + -0.2776668071746826 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e017/wrist.mp4 b/episodes/c5_p000_e017/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1e8dc7642db44dd50f067cbe4a4d6b62c4e94e60 --- /dev/null +++ b/episodes/c5_p000_e017/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84486c8adaa78b5f7091e79410e04c9fe13004843b2e258b1576ed572372fd88 +size 6650646 diff --git a/episodes/c5_p000_e018/data.npz b/episodes/c5_p000_e018/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..b3e1b01bd4663d84998f5f72a8441862689c6872 --- /dev/null +++ b/episodes/c5_p000_e018/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99d2e7df328f8a16dcec08ce4f567f2ad2487a36015aa4ca852714b5223725b3 +size 191244 diff --git a/episodes/c5_p000_e018/device_events.jsonl b/episodes/c5_p000_e018/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..49e4c85e9662a4cdadedde3729a1acadf06c021e --- /dev/null +++ b/episodes/c5_p000_e018/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 0, "seq": 1, "step": 84, "t": 0.42, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 84, "t": 0.42, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 89, "t": 0.445, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 682, "t": 3.41, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 709, "t": 3.545, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 5687, "t": 28.435, "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": 6300, "t": 31.5, "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": 6300, "t": 31.5, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.224568036388474}, "cause": "task-0-1"} +{"env_id": 0, "seq": 9, "step": 6300, "t": 31.5, "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": 6300, "t": 31.5, "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": 6300, "t": 31.5, "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": 6719, "t": 33.595, "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": 6719, "t": 33.595, "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": 6719, "t": 33.595, "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": 6719, "t": 33.595, "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": 6719, "t": 33.595, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 6719, "t": 33.595, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 18, "step": 6719, "t": 33.595, "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": 6719, "t": 33.595, "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": 6719, "t": 33.595, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.224568036388474}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7564, "t": 37.82, "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": 7564, "t": 37.82, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.2250000000021615}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 7564, "t": 37.82, "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": 4.2250000000021615}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 24, "step": 7564, "t": 37.82, "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": 7564, "t": 37.82, "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": 7564, "t": 37.82, "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": 7984, "t": 39.92, "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": 7984, "t": 39.92, "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": 29, "step": 7984, "t": 39.92, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 7984, "t": 39.92, "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": 7984, "t": 39.92, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 7984, "t": 39.92, "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": 8562, "t": 42.81, "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": 10288, "t": 51.44, "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": 10288, "t": 51.44, "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": 10288, "t": 51.44, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 37, "step": 10288, "t": 51.44, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p000_e018/env.mp4 b/episodes/c5_p000_e018/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..249a906af91b331a9a399423e2ec49840a756f36 --- /dev/null +++ b/episodes/c5_p000_e018/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:700b4aa2d8374bfdc9c681fd1afe55075150f23193dbfe950aec0b3183ec0fa7 +size 1360456 diff --git a/episodes/c5_p000_e018/meta.json b/episodes/c5_p000_e018/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc35497e774c24f6fedcd6bce5bf3f4232904dfc --- /dev/null +++ b/episodes/c5_p000_e018/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/18", + "fps": 25, + "frames": 1257, + "kept_ticks": "even", + "video_frames": { + "wrist": 1257, + "env": 1257 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e018/scene_snapshot.json b/episodes/c5_p000_e018/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..f38b158e02387bb3ea68c1c4b98549127e5d4c77 --- /dev/null +++ b/episodes/c5_p000_e018/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 18, + "env_id": 0, + "run_id": "c5_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5240573883056641, + 0.07274436950683594, + 0.8999999761581421 + ], + "ori": [ + -0.6924200057983398, + 0.0, + 0.0, + 0.7214946746826172 + ], + "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": [ + 1.3456668505190672e-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": 0.24410815625437088, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.10058009710298266, + "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": 0.24410815625437088, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.049973487854003906, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.58922242032844e-09, + 2.7361115595425645e-09, + -3.6010926123708487e-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": [ + 1.458666298859157e-09, + 7.103692079013513e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -4.212813209392152e-08, + 1.370343056805723e-07, + -8.047567945368428e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.40064525604248047, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + -1.2658870218729135e-06, + 5.30277333155027e-09, + 2.483398153785288e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.79552763954905e-10, + -4.613739945646955e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 5.395153124254648e-08, + -9.100068609768641e-08, + 1.9855648236699608e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.304652214050293, + 0.5615444183349609, + 0.9000003933906555 + ], + "ori": [ + -0.9162901639938354, + 2.8186424970044754e-05, + -6.420447789423633e-06, + 0.40051522850990295 + ], + "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": [ + -3.3555672416696325e-05, + -5.378712376113981e-05, + -5.716457962989807e-05 + ], + "angular_velocity": [ + 0.004662086255848408, + -0.002728391671553254, + 1.8616819943417795e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.697352409362793, + 0.7934150695800781, + 0.8999999761581421 + ], + "ori": [ + 0.7187250256538391, + -8.897868752910654e-08, + 5.604308483952991e-08, + 0.6952944993972778 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.416116361483091e-10, + -8.309115617777252e-10, + 0.0 + ], + "angular_velocity": [ + -1.0323176979909476e-08, + 7.348047148525438e-08, + -9.854617566418256e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.038140296936035156, + 0.45638084411621094, + 0.9179999828338623 + ], + "ori": [ + 0.9999992251396179, + 2.839365631501778e-09, + 9.941687473258298e-10, + -0.0012973678531125188 + ], + "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": [ + -1.0982274645243706e-08, + -1.776544600318175e-08, + 1.6763806343078613e-07 + ], + "angular_velocity": [ + 1.5141015410335967e-06, + -1.9338895071996376e-06, + -5.800708535730337e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.4114208221435547, + 1.1394548416137695, + 0.9180000424385071 + ], + "ori": [ + -0.07830321043729782, + 4.246055063106269e-09, + 1.8997934336795197e-09, + 0.9969296455383301 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.507283600853953e-10, + 7.068797547304939e-09, + -5.1781535148620605e-06 + ], + "angular_velocity": [ + -1.580023990754853e-06, + 1.462979412281129e-06, + -1.0010329276610719e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.3035812377929688, + 0.5629615783691406, + 0.9180001020431519 + ], + "ori": [ + -0.9241785407066345, + 3.870594809995964e-05, + -1.2606439668161329e-05, + 0.381960928440094 + ], + "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": [ + -7.209736213553697e-05, + -9.282685641665012e-05, + -0.0001219920814037323 + ], + "angular_velocity": [ + 0.0056815254501998425, + -0.004005740862339735, + 0.00021466992620844394 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.7056598663330078, + 0.8020305633544922, + 0.9179999828338623 + ], + "ori": [ + 0.7568062543869019, + -9.136313394719764e-08, + 5.173978934180923e-08, + 0.6536393761634827 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.662452658341863e-08, + -9.425651370520427e-08, + -1.4901161193847656e-06 + ], + "angular_velocity": [ + 3.1121246593102114e-06, + -1.7724175904731965e-07, + 4.491542426876549e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 1.3399999999999934, + "step": 268, + "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": 1.3456668505190672e-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": 0.24410815625437088, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 183, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.10002651810646057, + 7.748603820800781e-07, + 0.0 + ], + "carrier_2": [ + 0.250645250082016, + 0.7000005841255188, + 0.0 + ], + "carrier_3": [ + -1.4546541273593903, + 0.11154443025588989, + 3.5762786865234375e-07 + ], + "carrier_4": [ + 1.5473524034023285, + 0.3434150815010071, + 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": [ + 0.002249211440205623, + -0.35163160281776085, + 2.736332230927687 + ], + "ori": [ + 12.31415754598482, + 7.14559131963604, + -8.019848699216393 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3562.686870297177, + "color": [ + 0.9414009106874983, + 0.9935620937609821, + 0.9490548000547705 + ], + "intensity": 13466.891136240325, + "width": 2.367780130412581, + "height": 1.0151885178051019 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.7173049053752698, + 1.010204213864106, + 2.6052928892361478 + ], + "ori": [ + -29.56506785745656, + 12.737503900201894, + 11.91380916009679 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6319.220026660252, + "color": [ + 0.7817348613231311, + 0.7920287536941311, + 0.8066420478550561 + ], + "intensity": 4810.7306947840325, + "radius": 0.26204354954010345 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1399.2940716874919, + "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": [ + [ + 0.9141009449958801, + -1.7193979024887085, + 2.0904994010925293, + -1.9419007301330566, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + -0.03334084153175354, + -2.1094589233398438, + 2.38474702835083, + -1.8464919328689575, + -1.5705986022949219, + 4.716787338256836, + 0.00661225151270628, + 0.008749273605644703 + ], + [ + 0.9649085402488708, + -1.3072160482406616, + 2.1548011302948, + -2.4183390140533447, + -1.5707963705062866, + 2.471470832824707, + 0.018000049516558647, + 0.017999950796365738 + ], + [ + 2.5431735515594482, + -2.2069547176361084, + 2.40073299407959, + -1.764590859413147, + -1.570849061012268, + 4.1143035888671875, + 0.0077628083527088165, + 0.007085456047207117 + ] + ], + "joint_vel": [ + [ + 5.108946879772702e-06, + -3.4059537483699387e-06, + 6.811947514506755e-06, + -1.494305764196402e-12, + -3.4059783047268866e-06, + 1.7940516693765174e-12, + -2.5990553709220876e-08, + 2.599115944690311e-08 + ], + [ + 0.00015322776744142175, + 0.00048069091280922294, + 0.0023736031726002693, + -4.558607179205865e-05, + -0.0013367433566600084, + 0.0030424101278185844, + -0.003343381220474839, + 0.0003786193556152284 + ], + [ + -0.00013717928959522396, + 0.017510030418634415, + 0.0069858115166425705, + -0.02321448177099228, + -7.67599976825295e-06, + -7.321898920054082e-06, + -7.788896255078726e-06, + 7.764448128000367e-06 + ], + [ + 0.02060745842754841, + 0.03398042544722557, + -0.011992329731583595, + -0.022386668249964714, + -0.0007200842956081033, + 0.022853627800941467, + -0.008427130989730358, + 0.00029341934714466333 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05218871310353279, + 0.0007798699662089348, + -0.030329393222928047, + -0.28989261388778687, + 0.6383031010627747, + 0.6575785875320435, + -0.2759018540382385 + ], + [ + 0.05009065195918083, + -0.0005486622103489935, + -0.03088303655385971, + -0.2698937952518463, + 0.6472775936126709, + 0.6535290479660034, + -0.2847609221935272 + ], + [ + 0.05269624665379524, + 0.004238621331751347, + -0.03163640573620796, + -0.27618271112442017, + 0.6597381234169006, + 0.6373823285102844, + -0.28672710061073303 + ], + [ + 0.04815085977315903, + -0.0008652420365251601, + -0.03018907643854618, + -0.3006126582622528, + 0.6364744305610657, + 0.6526497006416321, + -0.2803225517272949 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e018/wrist.mp4 b/episodes/c5_p000_e018/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..82951c15e8ad13f7e89a86883e99942e6d3b2300 --- /dev/null +++ b/episodes/c5_p000_e018/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5154330d005e86847b3c7f6ddc9fb629cda8a60c6d3738bd0b749afa78c13bc +size 7425242 diff --git a/episodes/c5_p000_e019/data.npz b/episodes/c5_p000_e019/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..ca14a83e6c55f4a5190820d293a968b1d8e2f8f6 --- /dev/null +++ b/episodes/c5_p000_e019/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5902dd2cd963e03874e256f77c2a5a5c1aa0280f0583265b9ca043cdafab9dcd +size 185717 diff --git a/episodes/c5_p000_e019/device_events.jsonl b/episodes/c5_p000_e019/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..640c11cfc60cdc905d6a6d566641ff58bb78a032 --- /dev/null +++ b/episodes/c5_p000_e019/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 146, "t": 0.73, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 146, "t": 0.73, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 151, "t": 0.755, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6891, "t": 34.455, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7504, "t": 37.52, "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": 7504, "t": 37.52, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.4267031927876768}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7504, "t": 37.52, "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": 7504, "t": 37.52, "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": 7504, "t": 37.52, "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": 7923, "t": 39.615, "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": 7923, "t": 39.615, "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": 7923, "t": 39.615, "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": 7923, "t": 39.615, "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": 7923, "t": 39.615, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7923, "t": 39.615, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7923, "t": 39.615, "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": 7923, "t": 39.615, "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": 7923, "t": 39.615, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.4267031927876768}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8409, "t": 42.045, "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": 8409, "t": 42.045, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.430000000001243}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8409, "t": 42.045, "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": 2.430000000001243}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8409, "t": 42.045, "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": 8409, "t": 42.045, "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": 8409, "t": 42.045, "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": 8829, "t": 44.145, "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": 8829, "t": 44.145, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.3982024427150463e-07}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8829, "t": 44.145, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.3982024427150463e-07}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8829, "t": 44.145, "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": 8829, "t": 44.145, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8829, "t": 44.145, "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": 9411, "t": 47.055, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 11148, "t": 55.74, "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": 11148, "t": 55.74, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11148, "t": 55.74, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11148, "t": 55.74, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p000_e019/env.mp4 b/episodes/c5_p000_e019/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b4597f03738658703f8f7f05a2925c0558133090 --- /dev/null +++ b/episodes/c5_p000_e019/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3dfb80c9bb2b6058767f9b9ebadabdb1c6e37026bb8587ae01ec28732658c9d +size 1355628 diff --git a/episodes/c5_p000_e019/meta.json b/episodes/c5_p000_e019/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4df441ad9fd6f099e626999c69a5e31e2ba727ec --- /dev/null +++ b/episodes/c5_p000_e019/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/19", + "fps": 25, + "frames": 1214, + "kept_ticks": "even", + "video_frames": { + "wrist": 1214, + "env": 1214 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e019/scene_snapshot.json b/episodes/c5_p000_e019/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..4be8f9de8becb047f384c41fb6dd11c34be510f6 --- /dev/null +++ b/episodes/c5_p000_e019/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 19, + "env_id": 1, + "run_id": "c5_p000", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5098752975463867, + 0.08571529388427734, + 0.8999999761581421 + ], + "ori": [ + 0.7111824154853821, + 0.0, + 0.0, + -0.7030075192451477 + ], + "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": [ + 3.700582808935371e-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": 0.2680256265183081, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.23833977652308802, + "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": 0.2680256265183081, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.08814716339111328, + 0.4474506378173828, + 0.8999999761581421 + ], + "ori": [ + 0.9999380111694336, + 3.3615429884115144e-10, + -4.929537222864155e-09, + 0.01114233024418354 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.5123393910273535e-10, + 2.5503721357011955e-09, + 0.0 + ], + "angular_velocity": [ + -1.3332518733477627e-07, + 3.118583080663484e-08, + 4.825368993266466e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3818368911743164, + 0.6963338851928711, + 0.8999999761581421 + ], + "ori": [ + -0.8004390597343445, + -7.733078177807329e-08, + -9.081195884164117e-08, + 0.5994141101837158 + ], + "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": [ + -4.737889724992783e-08, + 2.8338957847040547e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 3.071753553740564e-07, + -1.0743979146354832e-06, + -6.56397560305777e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6149673461914062, + 0.5759105682373047, + 0.8999999761581421 + ], + "ori": [ + 0.9110522270202637, + -6.517226580626811e-08, + 1.5353442961441033e-07, + 0.41229113936424255 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.359393012189685e-10, + 4.4432013623918465e-10, + 0.0 + ], + "angular_velocity": [ + -7.095794529732302e-08, + 8.398870932069258e-09, + 1.0186880672335974e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.15462779998779297, + 1.1524715423583984, + 0.8999999761581421 + ], + "ori": [ + -0.011190908960998058, + 1.2834705742648111e-08, + 2.9164048953589372e-09, + 0.9999374747276306 + ], + "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": [ + -4.313587265158958e-10, + -5.90477278183954e-10, + -7.450580596923828e-09 + ], + "angular_velocity": [ + 5.145098214143218e-08, + -5.947874370804129e-08, + 1.3712524449260854e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -0.08200550079345703, + 0.45598697662353516, + 0.9179999828338623 + ], + "ori": [ + 0.9999686479568481, + 2.418137023951772e-09, + -4.225861882645177e-09, + -0.007916084490716457 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.6711255429745506e-08, + 9.297588476897545e-09, + 8.195638656616211e-08 + ], + "angular_velocity": [ + 2.6140091335946636e-07, + -1.6216685025938204e-06, + 1.6475476627419994e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.3942375183105469, + 0.7055511474609375, + 0.9180000424385071 + ], + "ori": [ + -0.7574321031570435, + 1.7956350006897992e-07, + -4.089988863142935e-07, + 0.6529138684272766 + ], + "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": [ + -1.9844303551508347e-06, + 5.032156877859961e-06, + -5.971640348434448e-06 + ], + "angular_velocity": [ + -1.3870911061530933e-05, + 5.5584998335689306e-05, + -4.15413251175778e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.6101512908935547, + 0.5660285949707031, + 0.9179999828338623 + ], + "ori": [ + 0.8874716758728027, + -5.1510227194739855e-08, + 1.568232335102948e-07, + 0.46086227893829346 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.754691301262937e-07, + -1.8015929015291476e-07, + -5.289912223815918e-06 + ], + "angular_velocity": [ + 4.505780088948086e-05, + 9.221400250680745e-05, + -1.3847566151525825e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.14097976684570312, + 1.1595468521118164, + 0.9179999828338623 + ], + "ori": [ + 0.07308589667081833, + 1.6088153032001173e-08, + -9.106246867673917e-10, + 0.9973256587982178 + ], + "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": [ + 1.0755186963251617e-07, + 2.253278452712948e-09, + 1.9371509552001953e-07 + ], + "angular_velocity": [ + 1.0899702829192393e-06, + 4.336314304964617e-06, + 1.098883561923003e-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": 7.339999999999866, + "step": 1468, + "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": 3.700582808935371e-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": 0.2680256265183081, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1321, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.23814716935157776, + -0.0025493502616882324, + 0.0 + ], + "carrier_2": [ + -1.5318368971347809, + 0.24633389711380005, + 0.0 + ], + "carrier_3": [ + 1.4649673402309418, + 0.12591058015823364, + 0.0 + ], + "carrier_4": [ + 0.004627794027328491, + 0.7024715542793274, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.8028743808449678, + -0.45668548513643137, + 2.93244244600277 + ], + "ori": [ + -5.490225867614377, + 6.841046489628756, + -8.260285219644572 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3753.740898892515, + "color": [ + 0.8908859648575738, + 0.9984896700900957, + 0.9079738097239921 + ], + "intensity": 12044.82056072282, + "width": 1.8038312860232848, + "height": 1.2750811404477203 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.49833880000971464, + 0.6310613118360902, + 2.2852010543811154 + ], + "ori": [ + 9.652457541034707, + 22.370775338794886, + -30.31953146705898 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7422.373546763286, + "color": [ + 0.965503243450387, + 0.9153757183343858, + 0.9348561106021321 + ], + "intensity": 6127.465019276864, + "radius": 0.09841013425025479 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1399.2940716874919, + "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": [ + [ + 2.5305216312408447, + -2.252845287322998, + 2.244652271270752, + -1.5636160373687744, + -1.5720164775848389, + 4.100380897521973, + 0.01799999177455902, + 0.018000006675720215 + ], + [ + 0.9141024947166443, + -1.7193981409072876, + 2.090498924255371, + -1.9419000148773193, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.804443597793579, + -1.665945291519165, + 1.9053072929382324, + -1.8101232051849365, + -1.5707218647003174, + 4.375207901000977, + 0.007774182129651308, + 0.007100407034158707 + ], + [ + 0.8622353672981262, + -2.165534019470215, + 2.429133176803589, + -1.8352874517440796, + -1.5667788982391357, + 4.2696852684021, + 0.007814227603375912, + 0.007108653895556927 + ] + ], + "joint_vel": [ + [ + 6.8119070419925265e-06, + -1.695139579920013e-12, + -1.7064690589416176e-12, + 3.405977395232185e-06, + 6.034197664109286e-14, + 1.0875676444491167e-12, + 1.0396377092547482e-07, + -1.0396620098163112e-07 + ], + [ + 0.0, + -2.454474593234963e-38, + -1.2499685997863728e-38, + -4.265927400769919e-37, + 2.7658317895163454e-37, + 7.673397726246167e-38, + 2.5990386731677972e-08, + -2.5990386731677972e-08 + ], + [ + -0.00035904120886698365, + 4.455181260709651e-05, + -0.00042282461072318256, + -0.0005981954745948315, + -0.0030325616244226694, + 0.007044903468340635, + -0.008825824595987797, + 0.0004313941753935069 + ], + [ + -0.07336399704217911, + 0.003622133983299136, + -0.0003290572785772383, + -0.00350005435757339, + -0.00011060602264478803, + 0.007775049190968275, + -0.008106567896902561, + 0.00012055685510858893 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05312570184469223, + 0.0009126371587626636, + -0.03124036081135273, + -0.2911682426929474, + 0.6376470923423767, + 0.653978168964386, + -0.28449925780296326 + ], + [ + 0.048392314463853836, + -0.00042570961522869766, + -0.0320572555065155, + -0.2694630026817322, + 0.6524335741996765, + 0.6503413915634155, + -0.28067106008529663 + ], + [ + 0.054213106632232666, + 0.003554204013198614, + -0.03270135074853897, + -0.27207615971565247, + 0.6553155183792114, + 0.6434385776519775, + -0.2872680425643921 + ], + [ + 0.04941754415631294, + -0.0012534117558971047, + -0.03226635977625847, + -0.2886812388896942, + 0.6443546414375305, + 0.6517272591590881, + -0.2769870460033417 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e019/wrist.mp4 b/episodes/c5_p000_e019/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e1042b98c43f8ce84071bc9a8fa36837fa40604c --- /dev/null +++ b/episodes/c5_p000_e019/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05c1b03ee3280066352d0803a87e511001be378fd423f42572495fee2bb68772 +size 7276321 diff --git a/episodes/c5_p000_e020/data.npz b/episodes/c5_p000_e020/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..357b949b7f90d622be35849d1b4b81ef523bb086 --- /dev/null +++ b/episodes/c5_p000_e020/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d4754011c7ef3df2141de2674b94f292821aa77a6eefb6ce68a26981c25afe2 +size 202834 diff --git a/episodes/c5_p000_e020/device_events.jsonl b/episodes/c5_p000_e020/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5497f33cd15643ce5d6e119a96311a4d8bfb8574 --- /dev/null +++ b/episodes/c5_p000_e020/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 152, "t": 0.76, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 152, "t": 0.76, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 157, "t": 0.785, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6099, "t": 30.495, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6712, "t": 33.56, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 6712, "t": 33.56, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.6749289211142013}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6712, "t": 33.56, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 6712, "t": 33.56, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6712, "t": 33.56, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7131, "t": 35.655, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.6749289211142013}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7866, "t": 39.33, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7866, "t": 39.33, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.67500000000188}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7866, "t": 39.33, "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": 3.67500000000188}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7866, "t": 39.33, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 7866, "t": 39.33, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7866, "t": 39.33, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8286, "t": 41.43, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8286, "t": 41.43, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.8034414239753715e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8286, "t": 41.43, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.8034414239753715e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8286, "t": 41.43, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8286, "t": 41.43, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8286, "t": 41.43, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8867, "t": 44.335, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 11080, "t": 55.4, "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": 33, "step": 11080, "t": 55.4, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11080, "t": 55.4, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11080, "t": 55.4, "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/c5_p000_e020/env.mp4 b/episodes/c5_p000_e020/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..523acccdbf709985f88ccb5751f62707a842d192 --- /dev/null +++ b/episodes/c5_p000_e020/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a78970ec6e887db6f07694eedf6088de6e8483d2b70843f6032b233e1574130 +size 1503464 diff --git a/episodes/c5_p000_e020/meta.json b/episodes/c5_p000_e020/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ee97957f82326390789bd12c2e10103fca045400 --- /dev/null +++ b/episodes/c5_p000_e020/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/20", + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e020/scene_snapshot.json b/episodes/c5_p000_e020/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..fce8a11b01ec1d13a8a1c805712c2c93b8c43d4f --- /dev/null +++ b/episodes/c5_p000_e020/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 20, + "env_id": 3, + "run_id": "c5_p000", + "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_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.17154898227210183, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1780839442263458, + "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": 0.17154898227210183, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.2555103302001953, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + 3.3278774935752153e-05, + -1.3567122536528586e-08, + 3.7154790355486966e-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": [ + -7.397294998767734e-10, + -6.603560476214909e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 4.3299849039613036e-08, + -7.181996153349246e-08, + -5.913411538216451e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.386582374572754, + 0.7130861282348633, + 0.8999999761581421 + ], + "ori": [ + -0.7888635993003845, + -2.551940170292255e-08, + -1.818389172569823e-08, + 0.6145684719085693 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2103098523397193e-09, + 1.3964523981613297e-10, + 0.0 + ], + "angular_velocity": [ + -8.624962077874443e-09, + -3.0460636679663367e-08, + -2.020806633140637e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.02848339080810547, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 6.005670960540499e-10, + -1.6566521487959562e-09, + -3.816730168182403e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.053134742918132e-10, + -5.272382530563391e-10, + 0.0 + ], + "angular_velocity": [ + 2.6995394364348613e-08, + -7.26001800899212e-08, + -5.603681074717315e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.300999641418457, + 0.44998836517333984, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.7085092451907258e-08, + -4.3743540345531073e-08, + -4.548835477180546e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2782152225554455e-08, + -8.09349245400881e-08, + 2.60770320892334e-08 + ], + "angular_velocity": [ + 2.103608949255431e-06, + -4.1559087549103424e-07, + 2.5713632112456253e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.26799774169921875, + 1.1406478881835938, + 0.9179999828338623 + ], + "ori": [ + 0.07525099068880081, + -1.537086724567871e-08, + 4.54469217814335e-09, + 0.9971646070480347 + ], + "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": [ + 1.405996030712231e-08, + 1.4007472515231711e-08, + 1.4528632164001465e-07 + ], + "angular_velocity": [ + -1.1558823871382629e-06, + 2.063386318695848e-06, + -5.7672906450534356e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.390925407409668, + 0.707056999206543, + 0.9180000424385071 + ], + "ori": [ + -0.8204486966133118, + -2.628011941396835e-08, + -1.701565821576878e-08, + 0.57172030210495 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4540418646902253e-08, + 4.9097693022304156e-08, + -5.383044481277466e-06 + ], + "angular_velocity": [ + -1.9381666334084002e-06, + -1.3124363249517046e-06, + 4.65443967812007e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -0.019571304321289062, + 0.46179771423339844, + 0.9180000424385071 + ], + "ori": [ + 0.9964135885238647, + -8.458407307898597e-10, + -9.035575621041403e-10, + -0.08461665362119675 + ], + "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": [ + -1.4758029465156142e-08, + 2.2419439638099448e-09, + -5.796551704406738e-06 + ], + "angular_velocity": [ + 3.5085307104054664e-07, + -1.302468376707111e-06, + 8.128019857167601e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.3034400939941406, + 0.45105934143066406, + 0.9180000424385071 + ], + "ori": [ + 0.9963556528091431, + -2.506878331587359e-07, + 1.8232287857244955e-07, + -0.08529672771692276 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.49525270293816e-07, + -4.979948243999388e-06, + -5.133450031280518e-06 + ], + "angular_velocity": [ + 5.0552589527796954e-05, + 2.0730760297738016e-05, + -1.6985233742161654e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 4.599999999999924, + "step": 920, + "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": 0.17154898227210183, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 767, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.10551032423973083, + 0.699998676776886, + 0.0 + ], + "carrier_2": [ + -1.5365823805332184, + 0.26308614015579224, + 0.0 + ], + "carrier_3": [ + -0.17848339676856995, + 7.748603820800781e-07, + 0.0 + ], + "carrier_4": [ + 1.1509996354579926, + -1.1622905731201172e-05, + 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": [ + 0.8616428304972935, + -0.4144372032244247, + 2.8083268514521733 + ], + "ori": [ + 14.50684694890115, + -0.8139423676697195, + 3.686290985174793 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6503.352272536744, + "color": [ + 0.9683443671698345, + 0.8829115344884467, + 0.9195555510934247 + ], + "intensity": 7831.9278245619735, + "width": 2.3617879404598803, + "height": 0.9480403594600171 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.6232559674482046, + 1.3589597539545826, + 2.222381568452205 + ], + "ori": [ + -9.475693636048021, + 23.392597677973527, + 1.7278483375464901 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4187.713962389171, + "color": [ + 0.9522432083748409, + 0.7790950382267571, + 0.9726612879381635 + ], + "intensity": 8185.188580438681, + "radius": 0.48501765230631144 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1399.2940716874919, + "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": [ + [ + -0.11937909573316574, + -2.1177735328674316, + 2.3884952068328857, + -1.8415111303329468, + -1.5707147121429443, + 4.508038520812988, + 0.006806250661611557, + 0.00812885444611311 + ], + [ + -0.21594619750976562, + -2.0099689960479736, + 2.6813275814056396, + -2.2440757751464844, + -1.5723875761032104, + 4.447145462036133, + 0.017999988049268723, + 0.017999988049268723 + ], + [ + 1.5525401830673218, + -1.2817262411117554, + 2.236348867416382, + -2.524279832839966, + -1.5720417499542236, + 6.266587734222412, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 0.9141008853912354, + -1.719397783279419, + 2.0904996395111084, + -1.9419009685516357, + -1.5707999467849731, + 2.4849002361297607, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 0.0006130891270004213, + 0.0005564853199757636, + 0.001838425057940185, + -5.774963938165456e-05, + 0.0006559560424648225, + -0.0016576005145907402, + -0.006043705623596907, + 0.00010290926729794592 + ], + [ + 1.2772358104484738e-06, + 3.2999946091710752e-12, + 3.293904645568224e-12, + -6.811956609453773e-06, + -3.405978532100562e-06, + 1.968579243843624e-13, + 1.5594251578932017e-07, + 1.5594248736761074e-07 + ], + [ + 1.0217897397524212e-05, + 3.405918960197596e-06, + 6.811931598349474e-06, + -5.408315722349455e-12, + -3.4059787594742374e-06, + -1.3623914128402248e-05, + 1.819388018020618e-07, + 1.8193991024872957e-07 + ], + [ + 2.8265198960325874e-38, + -1.6420210815382415e-38, + 1.5538583886552456e-38, + -5.007288276956664e-37, + 4.23503964370764e-37, + -2.895051014001717e-37, + 2.5990388508034812e-08, + -2.5990388508034812e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.051976967602968216, + 0.0024184396024793386, + -0.03242900222539902, + -0.2901808023452759, + 0.6395682096481323, + 0.6547952890396118, + -0.2792682349681854 + ], + [ + 0.04983077943325043, + -0.0007840933394618332, + -0.03167228028178215, + -0.2720719575881958, + 0.6529008150100708, + 0.6489759683609009, + -0.2802276909351349 + ], + [ + 0.05395110696554184, + 0.0014964068541303277, + -0.03199884667992592, + -0.2747296094894409, + 0.6561037302017212, + 0.6408564448356628, + -0.2887118458747864 + ], + [ + 0.050064899027347565, + -0.001230432535521686, + -0.032682936638593674, + -0.3014373183250427, + 0.6402134299278259, + 0.6500970721244812, + -0.2768322229385376 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e020/wrist.mp4 b/episodes/c5_p000_e020/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..01edf19c95ff7ccce74e2c241a4c9fb819fce858 --- /dev/null +++ b/episodes/c5_p000_e020/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c7e21e2c7bbc818cc249363a16ec6eb78fa601ab27965e155f76fdc00d3bb96 +size 7684485 diff --git a/episodes/c5_p000_e021/data.npz b/episodes/c5_p000_e021/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..923962c3b0e0325485c8fca5bfae56a253621bb1 --- /dev/null +++ b/episodes/c5_p000_e021/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47b637cb3f3dccf2931d379b12d5ab15eca76f1f8d1ca5e5527ed2ad0ebcec54 +size 192718 diff --git a/episodes/c5_p000_e021/device_events.jsonl b/episodes/c5_p000_e021/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8a9e342dee3069240c4f2020e51964ada341501c --- /dev/null +++ b/episodes/c5_p000_e021/device_events.jsonl @@ -0,0 +1,42 @@ +{"env_id": 2, "seq": 1, "step": 148, "t": 0.74, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 148, "t": 0.74, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 153, "t": 0.765, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1955, "t": 9.775, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 1967, "t": 9.835, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 1989, "t": 9.945, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 2002, "t": 10.01, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 8, "step": 2015, "t": 10.075, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 2029, "t": 10.145, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 10, "step": 2093, "t": 10.465, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 6794, "t": 33.97, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 7404, "t": 37.02, "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": 13, "step": 7404, "t": 37.02, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.0445714227943874}, "cause": "task-2-1"} +{"env_id": 2, "seq": 14, "step": 7404, "t": 37.02, "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": 15, "step": 7404, "t": 37.02, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 16, "step": 7404, "t": 37.02, "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": 17, "step": 7823, "t": 39.115, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 7823, "t": 39.115, "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": 19, "step": 7823, "t": 39.115, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 20, "step": 7823, "t": 39.115, "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": 21, "step": 7823, "t": 39.115, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 22, "step": 7823, "t": 39.115, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 23, "step": 7823, "t": 39.115, "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": 24, "step": 7823, "t": 39.115, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 25, "step": 7823, "t": 39.115, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.0445714227943874}, "cause": "program-2-3"} +{"env_id": 2, "seq": 26, "step": 8432, "t": 42.16, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 27, "step": 8432, "t": 42.16, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.045000000001558}, "cause": "program-2-3"} +{"env_id": 2, "seq": 28, "step": 8432, "t": 42.16, "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": 3.045000000001558}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 29, "step": 8432, "t": 42.16, "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": 30, "step": 8432, "t": 42.16, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 31, "step": 8432, "t": 42.16, "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": 32, "step": 8852, "t": 44.26, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 8852, "t": 44.26, "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": 34, "step": 8852, "t": 44.26, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 35, "step": 8852, "t": 44.26, "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": 36, "step": 8852, "t": 44.26, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 37, "step": 8852, "t": 44.26, "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": 38, "step": 9435, "t": 47.175, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 39, "step": 11200, "t": 56.0, "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": 40, "step": 11200, "t": 56.0, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 41, "step": 11200, "t": 56.0, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 42, "step": 11200, "t": 56.0, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p000_e021/env.mp4 b/episodes/c5_p000_e021/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9f030b85a0a91aa3a884fd8f873ba0c9f526793e --- /dev/null +++ b/episodes/c5_p000_e021/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0f20111c849a21abd40705e2193389c00714c5fc6f8f1628b21f844901c8a7b +size 1300106 diff --git a/episodes/c5_p000_e021/meta.json b/episodes/c5_p000_e021/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a325a1f97c53065fdcdd0b65547f159773634789 --- /dev/null +++ b/episodes/c5_p000_e021/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/21", + "fps": 25, + "frames": 1211, + "kept_ticks": "even", + "video_frames": { + "wrist": 1211, + "env": 1211 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e021/scene_snapshot.json b/episodes/c5_p000_e021/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..cabfe6d3971610055147271ce3eaa1dea601acad --- /dev/null +++ b/episodes/c5_p000_e021/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 21, + "env_id": 2, + "run_id": "c5_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 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": 0.216041225752519, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1235806982954834, + "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": 0.216041225752519, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.584162712097168, + 1.0571537017822266, + 0.8999999761581421 + ], + "ori": [ + 0.3683519661426544, + 3.440081641770121e-08, + -1.6944665048868046e-07, + 0.929686427116394 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.378988367939371e-09, + -6.954087861110736e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 8.07238365041485e-08, + 1.1721041204282301e-07, + -1.6020074156131159e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4811830520629883, + 1.1524791717529297, + 0.8999999761581421 + ], + "ori": [ + -0.010680777952075005, + 7.274206126339777e-09, + -3.864705888645403e-09, + 0.9999430179595947 + ], + "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": [ + 3.6634131284074556e-09, + 8.35597635528984e-09, + 2.9802322387695312e-08 + ], + "angular_velocity": [ + -2.6629990657056624e-07, + 2.9923174338364333e-07, + -5.591767404666825e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3343305587768555, + 0.5999155044555664, + 0.8999999761581421 + ], + "ori": [ + -0.8842027187347412, + -8.22994508098418e-08, + 3.805603299156246e-08, + 0.46710336208343506 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0799178440379364e-08, + 5.107891887234928e-09, + 0.0 + ], + "angular_velocity": [ + -2.7683586267812643e-07, + 6.421738589779125e-07, + 4.0961396052807686e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.026895523071289062, + 0.44698429107666016, + 0.8999999761581421 + ], + "ori": [ + 0.9999995231628418, + 2.199520343637573e-09, + 2.506869600793493e-09, + -0.0010594479972496629 + ], + "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": [ + 4.726784297304221e-09, + 2.9335183171497192e-09, + 3.725290298461914e-08 + ], + "angular_velocity": [ + -2.39447899730294e-07, + 4.687312866735738e-07, + -1.1380651088188642e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.5846004486083984, + 1.0445537567138672, + 0.9179999828338623 + ], + "ori": [ + 0.385670006275177, + 3.500769807374127e-08, + -1.7462649282151688e-07, + 0.922636866569519 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.9311331906665146e-08, + -5.45954890185385e-08, + 1.601874828338623e-07 + ], + "angular_velocity": [ + 6.846543669780658e-07, + 3.591973381844582e-06, + 3.0536395456692844e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.47583866119384766, + 1.1508426666259766, + 0.9180000424385071 + ], + "ori": [ + -0.04636651650071144, + 7.62926344322068e-09, + -3.407139459454811e-09, + 0.9989245533943176 + ], + "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": [ + 7.062104856458973e-08, + 4.5788706160010406e-08, + -5.323439836502075e-06 + ], + "angular_velocity": [ + -1.8670192503122962e-06, + 4.062270363647258e-06, + 1.2495642920384853e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -1.3311376571655273, + 0.5960979461669922, + 0.9180000424385071 + ], + "ori": [ + -0.8817653059959412, + -1.8262433343352313e-07, + -3.452858265973191e-08, + 0.4716883897781372 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.3020784283289686e-06, + 9.490651791566052e-06, + -6.336718797683716e-06 + ], + "angular_velocity": [ + -4.06387698603794e-05, + 6.404839223250747e-05, + 7.359778101090342e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.035622596740722656, + 0.4486417770385742, + 0.9179999828338623 + ], + "ori": [ + 0.9982283711433411, + -6.761500248586572e-10, + 2.530034848291507e-09, + -0.0594993531703949 + ], + "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": [ + -3.2521686677000616e-08, + 9.841210513172882e-09, + -1.1958181858062744e-06 + ], + "angular_velocity": [ + -2.7080631070930394e-07, + -2.09056565836363e-06, + -7.423616921187204e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 7.759999999999857, + "step": 1552, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 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": 0.216041225752519, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1403, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.4341627061367035, + 0.6071537137031555, + 0.0 + ], + "carrier_2": [ + 0.3311830461025238, + 0.7024791836738586, + 0.0 + ], + "carrier_3": [ + -1.48433056473732, + 0.14991551637649536, + 0.0 + ], + "carrier_4": [ + -0.12310448288917542, + -0.0030156970024108887, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.13843050843752125, + -0.07450762934882865, + 3.0278439356492455 + ], + "ori": [ + -14.849986619470082, + 5.417831636280347, + 11.184979810592978 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3327.4992335530756, + "color": [ + 0.8885021603802169, + 0.8144344563611414, + 0.9093987339949261 + ], + "intensity": 12003.952364518955, + "width": 1.8159840189641712, + "height": 0.815114363231485 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.26222693894197224, + 1.5493172268755202, + 2.3702045522490858 + ], + "ori": [ + 21.83918338917995, + -16.797353972884956, + 25.568276443052525 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6606.740183134139, + "color": [ + 0.8090420746284062, + 0.7718611781445801, + 0.9686573583998619 + ], + "intensity": 6928.1274201910055, + "radius": 0.2464972546132838 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 981.1971784804381, + "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": [ + [ + 0.9141073822975159, + -1.7193962335586548, + 2.090498208999634, + -1.9419009685516357, + -1.5707999467849731, + 2.484902858734131, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + -0.21675442159175873, + -1.9983071088790894, + 2.684941530227661, + -2.257493495941162, + -1.570584774017334, + 4.447866916656494, + 0.007744078058749437, + 0.007017617579549551 + ], + [ + 0.9141026735305786, + -1.7193981409072876, + 2.0904998779296875, + -1.9419013261795044, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.7905943393707275, + -1.7328176498413086, + 1.7787772417068481, + -1.616982340812683, + -1.5705798864364624, + 4.359039783477783, + 0.00768215162679553, + 0.006960329599678516 + ] + ], + "joint_vel": [ + [ + -2.5573568054469194e-38, + 2.9578159569459655e-38, + 2.963738404775588e-38, + 7.053227979590738e-37, + -7.3156138302835456e-37, + 2.505365157200277e-37, + 5.1980777016069624e-08, + -5.1980773463355945e-08 + ], + [ + -0.0008747267420403659, + -3.852980080409907e-05, + 0.0010857100132852793, + -0.0005423102993518114, + -0.006590109318494797, + 0.015390067361295223, + -0.010244451463222504, + 0.00044869203702546656 + ], + [ + -2.654826081950882e-38, + 1.6465338231127531e-38, + 2.818077913564109e-38, + 5.225372020647904e-37, + -3.985871288545853e-38, + 4.2318146393699046e-37, + 2.5990374297180097e-08, + -2.5990399166175848e-08 + ], + [ + 0.0063789538107812405, + 0.021386926993727684, + -0.01727883331477642, + -0.003593484638258815, + -0.00010505317914066836, + 0.006865790579468012, + -0.009129738435149193, + 0.0002969184424728155 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05422521010041237, + 0.0022018738090991974, + -0.03183902055025101, + -0.2951629161834717, + 0.6365635395050049, + 0.6536708474159241, + -0.2835139036178589 + ], + [ + 0.05126699060201645, + 0.00012410813360475004, + -0.02979125827550888, + -0.2704758048057556, + 0.6512137651443481, + 0.6506345272064209, + -0.28184783458709717 + ], + [ + 0.053862519562244415, + 0.0021095082629472017, + -0.03140595182776451, + -0.2727507948875427, + 0.6540517807006836, + 0.6488571763038635, + -0.27714189887046814 + ], + [ + 0.050448838621377945, + -0.0007125770789571106, + -0.031899500638246536, + -0.2942609190940857, + 0.6422461271286011, + 0.6491765975952148, + -0.28195780515670776 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e021/wrist.mp4 b/episodes/c5_p000_e021/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fb7fca88d628d6ea851881b3705b9ff5e7ab8ab7 --- /dev/null +++ b/episodes/c5_p000_e021/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:17846417867f16366fe1c49e15b87acccfbe24ae356aa697f24bd59497146a99 +size 6511195 diff --git a/episodes/c5_p000_e022/data.npz b/episodes/c5_p000_e022/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..15c78463b5d32f5f700fa82843d4d4afbda09382 --- /dev/null +++ b/episodes/c5_p000_e022/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:177fd655478595f8eb4058c41a4dee7866d981d899d69f9838d33c7cc812f6bd +size 190077 diff --git a/episodes/c5_p000_e022/device_events.jsonl b/episodes/c5_p000_e022/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..517bcabb07ca39ea140ce8971fdd368cfe16afb9 --- /dev/null +++ b/episodes/c5_p000_e022/device_events.jsonl @@ -0,0 +1,39 @@ +{"env_id": 0, "seq": 1, "step": 36, "t": 0.18, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 36, "t": 0.18, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 41, "t": 0.205, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1556, "t": 7.78, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 1607, "t": 8.035, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 1652, "t": 8.26, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 7, "step": 1689, "t": 8.445, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 8, "step": 6227, "t": 31.135, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 9, "step": 6840, "t": 34.2, "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": 10, "step": 6840, "t": 34.2, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.935567536103518}, "cause": "task-0-1"} +{"env_id": 0, "seq": 11, "step": 6840, "t": 34.2, "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": 12, "step": 6840, "t": 34.2, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 13, "step": 6840, "t": 34.2, "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": 14, "step": 7259, "t": 36.295, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 15, "step": 7259, "t": 36.295, "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": 16, "step": 7259, "t": 36.295, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 17, "step": 7259, "t": 36.295, "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": 18, "step": 7259, "t": 36.295, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 19, "step": 7259, "t": 36.295, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 20, "step": 7259, "t": 36.295, "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": 21, "step": 7259, "t": 36.295, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 22, "step": 7259, "t": 36.295, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.935567536103518}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 7847, "t": 39.235, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 24, "step": 7847, "t": 39.235, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.940000000001504}, "cause": "program-0-3"} +{"env_id": 0, "seq": 25, "step": 7847, "t": 39.235, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.940000000001504}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 26, "step": 7847, "t": 39.235, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 7847, "t": 39.235, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 28, "step": 7847, "t": 39.235, "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": 29, "step": 8267, "t": 41.335, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 30, "step": 8267, "t": 41.335, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.0913837611425947e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 31, "step": 8267, "t": 41.335, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.0913837611425947e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 32, "step": 8267, "t": 41.335, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 33, "step": 8267, "t": 41.335, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 34, "step": 8267, "t": 41.335, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 35, "step": 8847, "t": 44.235, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 10580, "t": 52.9, "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": 37, "step": 10580, "t": 52.9, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 38, "step": 10580, "t": 52.9, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 39, "step": 10580, "t": 52.9, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p000_e022/env.mp4 b/episodes/c5_p000_e022/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..136c738676418fea6aedecbb7ade06dbb23ab1f3 --- /dev/null +++ b/episodes/c5_p000_e022/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df91cc3b525837f503d35eb33c6ee3fec383c3ea29733bfee06a7f28e0a0d7ed +size 1295706 diff --git a/episodes/c5_p000_e022/meta.json b/episodes/c5_p000_e022/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ccad842b91b6759cfe1da4904f03a1e5e4ca2353 --- /dev/null +++ b/episodes/c5_p000_e022/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/22", + "fps": 25, + "frames": 1188, + "kept_ticks": "even", + "video_frames": { + "wrist": 1188, + "env": 1188 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e022/scene_snapshot.json b/episodes/c5_p000_e022/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..efcd095aceed1bd68f091652a07d1fa424829881 --- /dev/null +++ b/episodes/c5_p000_e022/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 22, + "env_id": 0, + "run_id": "c5_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5240573883056641, + 0.07274436950683594, + 0.8999999761581421 + ], + "ori": [ + -0.6924200057983398, + 0.0, + 0.0, + 0.7214946746826172 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.728331542089905e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.21057629277107576, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.04337770736393409, + "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": 0.21057629277107576, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.10647201538085938, + 0.45000457763671875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.0411455031444916e-09, + -3.822799410357902e-09, + -8.233492553699762e-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": [ + 1.8701369342011276e-09, + 8.952287799957048e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -8.721167432668153e-08, + 1.9208164303563535e-07, + -1.9580803645169453e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.635737419128418, + 0.6031179428100586, + 0.9000048637390137 + ], + "ori": [ + 0.8933188319206238, + -6.001458314131014e-05, + -1.0978884347423445e-05, + 0.44942358136177063 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 0.00016948369739111513, + -0.00022518736659549177, + -0.0009626634418964386 + ], + "angular_velocity": [ + 0.018388312309980392, + 0.013599586673080921, + 0.00040029064984992146 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.05727577209472656, + 1.1500015258789062, + 0.8999999761581421 + ], + "ori": [ + 1.24918742585578e-05, + 3.739261122959192e-10, + -1.6278111081291513e-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": [ + -1.9566737119447453e-11, + -6.633417148904641e-10, + 0.0 + ], + "angular_velocity": [ + 5.981572570590288e-08, + 5.324309881871159e-10, + -2.9800752976427702e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3919086456298828, + 0.8683843612670898, + 0.8999999761581421 + ], + "ori": [ + -0.6310538649559021, + -1.2162361429091106e-07, + -1.5441851530795248e-07, + 0.7757390141487122 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1388738130335696e-07, + -1.2432309404175612e-06, + -3.0621886253356934e-06 + ], + "angular_velocity": [ + 0.0001103489485103637, + -8.256825822172686e-06, + -5.364283879316645e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.119659423828125, + 0.4582681655883789, + 0.9179999828338623 + ], + "ori": [ + 0.9961721301078796, + 2.154753042660218e-09, + -4.140361831161954e-09, + -0.08741296827793121 + ], + "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": [ + -1.9347137225622646e-08, + -1.3719110292242931e-08, + 1.6763806343078613e-07 + ], + "angular_velocity": [ + 7.711970511081745e-07, + -2.2527985947817797e-06, + -5.264636726565186e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 1.6467227935791016, + 0.6105947494506836, + 0.9180036783218384 + ], + "ori": [ + 0.9119418263435364, + -9.989238606067374e-05, + -1.2316722859395668e-05, + 0.41031965613365173 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 0.00028675512294285, + -0.0004901679349131882, + -0.0010958090424537659 + ], + "angular_velocity": [ + 0.026853162795305252, + 0.017064932733774185, + 0.0007960223010741174 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -0.06772232055664062, + 1.1529541015625, + 0.9180000424385071 + ], + "ori": [ + -0.0763348937034607, + -2.761615935931161e-10, + -1.155845419376078e-09, + 0.9970822930335999 + ], + "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": [ + 2.4360314654359172e-08, + -8.323732814119467e-09, + -5.688518285751343e-06 + ], + "angular_velocity": [ + -1.82192323450181e-07, + 1.4863048818369862e-06, + 1.6631591392979317e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.3912954330444336, + 0.864410400390625, + 0.9179999828338623 + ], + "ori": [ + -0.5952340364456177, + -2.2564552182302577e-07, + -2.445458449074067e-07, + 0.8035524487495422 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.221065738529433e-06, + -4.547338903648779e-06, + -1.697242259979248e-05 + ], + "angular_velocity": [ + 0.0001705733302515, + 0.00035248842323198915, + 2.2061944036977366e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 5.599999999999903, + "step": 1120, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.728331542089905e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.21057629277107576, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1083, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.0435279905796051, + 4.589557647705078e-06, + 0.0 + ], + "carrier_2": [ + 1.4857374131679535, + 0.15311795473098755, + 4.947185516357422e-06 + ], + "carrier_3": [ + -0.20727577805519104, + 0.7000015377998352, + 0.0 + ], + "carrier_4": [ + -1.5419086515903473, + 0.4183843731880188, + 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": [ + 0.41510202080186887, + -0.4591936355934163, + 3.0871874646027737 + ], + "ori": [ + 5.116215591290331, + 5.110910612626771, + -8.77041695124575 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3702.512764551072, + "color": [ + 0.9294554141901905, + 0.8805232625857236, + 0.8895293056539277 + ], + "intensity": 5232.272170386768, + "width": 2.71414902548371, + "height": 1.13953763456047 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.8649246960614518, + -0.8068777146535775, + 2.579161475873005 + ], + "ori": [ + -19.878328651582837, + -12.934545279219378, + 1.0887908347000774 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6529.477867171439, + "color": [ + 0.8975135960391537, + 0.8409373636616826, + 0.7964258084794102 + ], + "intensity": 2768.261214544268, + "radius": 0.13487104912591819 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 981.1971784804381, + "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": [ + [ + 0.9141111373901367, + -1.7193952798843384, + 2.0904977321624756, + -1.9419012069702148, + -1.5707999467849731, + 2.484905242919922, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + -0.21678993105888367, + -2.2191524505615234, + 2.426720380783081, + -1.7777055501937866, + -1.5707485675811768, + 4.448240280151367, + 0.0077562490478158, + 0.007097517605870962 + ], + [ + 0.8965469002723694, + -1.275627613067627, + 2.2411274909973145, + -2.536261796951294, + -1.5708155632019043, + 2.5863280296325684, + 0.007763799279928207, + 0.007200512103736401 + ], + [ + 2.7184054851531982, + -1.922088623046875, + 1.9158670902252197, + -1.564870834350586, + -1.5705580711364746, + 4.286781311035156, + 0.018000025302171707, + 0.01799997314810753 + ] + ], + "joint_vel": [ + [ + 3.405964207559009e-06, + -2.0047423329684275e-14, + -4.2445871307767585e-14, + -1.1546041629294929e-15, + -3.405978532100562e-06, + 6.972324735794733e-13, + 5.198037200671024e-08, + -5.1980947546326206e-08 + ], + [ + -0.00041308157960884273, + -0.0006548980600200593, + -0.0032186717726290226, + -0.0001960529334610328, + -0.0017767606768757105, + 0.004014335572719574, + -0.008489198051393032, + 0.00042328223935328424 + ], + [ + -0.00044799549505114555, + -1.1934518624912016e-05, + -6.353319622576237e-05, + -0.0014811436412855983, + 0.001164350425824523, + 0.00419666338711977, + -0.007404685951769352, + 0.0004073319141753018 + ], + [ + -0.009368048049509525, + -0.022131478413939476, + 0.013368748128414154, + 0.007919375784695148, + -5.189586772758048e-06, + -0.009496199898421764, + -3.8023458728275727e-06, + 3.802520950557664e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05290286988019943, + 0.0005656067514792085, + -0.03035908378660679, + -0.29095640778541565, + 0.636890172958374, + 0.6561054587364197, + -0.281497597694397 + ], + [ + 0.05211375653743744, + -0.00038114009657874703, + -0.03433184325695038, + -0.2700999975204468, + 0.6525353193283081, + 0.6512961387634277, + -0.277591347694397 + ], + [ + 0.05289660394191742, + 0.0015140309697017074, + -0.03216361626982689, + -0.27325189113616943, + 0.6546076536178589, + 0.6432068347930908, + -0.28828322887420654 + ], + [ + 0.04735623672604561, + -0.0012883851304650307, + -0.03194553405046463, + -0.2944616377353668, + 0.6429444551467896, + 0.6487514972686768, + -0.2811339199542999 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e022/wrist.mp4 b/episodes/c5_p000_e022/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1b68391cbb494b9a571d32e9f12d82f2a5e25fdc --- /dev/null +++ b/episodes/c5_p000_e022/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80b009f7ab48209d0d9539a6bd2e7d6a94f9184b56fe55100f5b694d592a253b +size 7622280 diff --git a/episodes/c5_p000_e023/data.npz b/episodes/c5_p000_e023/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..2618c6e0c262c105eee31894aeaca2a6c84f05d5 --- /dev/null +++ b/episodes/c5_p000_e023/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b0a5c0b927f98ffe9c4017cf088fc711730dcb7118b98e867bf3c58a0a6033f +size 192488 diff --git a/episodes/c5_p000_e023/device_events.jsonl b/episodes/c5_p000_e023/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..694722508e02894f2335f41dad51720c4650418e --- /dev/null +++ b/episodes/c5_p000_e023/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 129, "t": 0.645, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 129, "t": 0.645, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 134, "t": 0.67, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 5718, "t": 28.59, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6328, "t": 31.64, "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": 6328, "t": 31.64, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.75136815860521}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6328, "t": 31.64, "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": 6328, "t": 31.64, "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": 6328, "t": 31.64, "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": 6747, "t": 33.735, "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": 6747, "t": 33.735, "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": 6747, "t": 33.735, "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": 6747, "t": 33.735, "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": 6747, "t": 33.735, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 6747, "t": 33.735, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6747, "t": 33.735, "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": 6747, "t": 33.735, "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": 6747, "t": 33.735, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.75136815860521}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7698, "t": 38.49, "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": 7698, "t": 38.49, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.755000000002433}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7698, "t": 38.49, "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": 4.755000000002433}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7698, "t": 38.49, "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": 7698, "t": 38.49, "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": 7698, "t": 38.49, "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": 8118, "t": 40.59, "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": 8118, "t": 40.59, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.546543275388057e-11}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8118, "t": 40.59, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.546543275388057e-11}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8118, "t": 40.59, "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": 8118, "t": 40.59, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8118, "t": 40.59, "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": 8699, "t": 43.495, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10456, "t": 52.28, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 33, "step": 10456, "t": 52.28, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10456, "t": 52.28, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10456, "t": 52.28, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p000_e023/env.mp4 b/episodes/c5_p000_e023/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d2b581ae164bc73a543ce853b8f87074e6325214 --- /dev/null +++ b/episodes/c5_p000_e023/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:544212795fac3b99bb9c2013f1f939edc4b79d6988b2ba1d312bdd07a1e48731 +size 1291431 diff --git a/episodes/c5_p000_e023/meta.json b/episodes/c5_p000_e023/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1e9e6afd6c268c9f68b4bc416828a224fe42156f --- /dev/null +++ b/episodes/c5_p000_e023/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/23", + "fps": 25, + "frames": 1281, + "kept_ticks": "even", + "video_frames": { + "wrist": 1281, + "env": 1281 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e023/scene_snapshot.json b/episodes/c5_p000_e023/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..1006627de9c21e91d37930412be1ea7fd3ee33d8 --- /dev/null +++ b/episodes/c5_p000_e023/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 23, + "env_id": 1, + "run_id": "c5_p000", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5098752975463867, + 0.08571529388427734, + 0.8999999761581421 + ], + "ori": [ + 0.7111824154853821, + 0.0, + 0.0, + -0.7030075192451477 + ], + "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": [ + 2.6913323999955274e-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": 0.29071046458104416, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2174108896323801, + "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": 0.29071046458104416, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4997272491455078, + 1.1524028778076172, + 0.8999999761581421 + ], + "ori": [ + -0.009620203636586666, + -7.221197861895234e-09, + -5.427325255880078e-10, + 0.9999538064002991 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.56722873462445e-10, + 1.6027675853180767e-09, + 0.0 + ], + "angular_velocity": [ + -1.273714644867141e-07, + 1.136430682890932e-08, + -2.728059111944958e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.334202766418457, + 0.4504671096801758, + 0.8999999761581421 + ], + "ori": [ + 0.9999383687973022, + 8.084354874426936e-08, + -1.048215736432212e-08, + 0.011104779317975044 + ], + "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": [ + 4.209700366075708e-10, + 4.283255083947779e-09, + 0.0 + ], + "angular_velocity": [ + -1.323039526823777e-07, + 1.2006829308575107e-08, + -2.0371070164060257e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.06743812561035156, + 0.4474477767944336, + 0.8999999761581421 + ], + "ori": [ + 0.9999414086341858, + -1.0357767976643117e-08, + -2.280630795326033e-09, + 0.01082569733262062 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.5946125248310636e-09, + -5.365095745446524e-08, + 3.725290298461914e-08 + ], + "angular_velocity": [ + 1.7568887642482878e-06, + 2.584128822036291e-07, + -6.986875860093278e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3974456787109375, + 0.7919063568115234, + 0.8999999761581421 + ], + "ori": [ + -0.7084604501724243, + -6.718005352013279e-08, + -8.549351804276739e-08, + 0.705750584602356 + ], + "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": [ + -1.787162862143532e-09, + -9.098621855940792e-11, + 0.0 + ], + "angular_velocity": [ + -1.055889597978421e-08, + -3.865029185590174e-08, + 1.857888598522095e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.5040454864501953, + 1.1516590118408203, + 0.9179999828338623 + ], + "ori": [ + 0.07598857581615448, + -8.30704571797014e-09, + -1.3944984056379894e-09, + 0.9971086978912354 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.6683171228114588e-08, + 3.870272280437348e-08, + 8.568167686462402e-08 + ], + "angular_velocity": [ + -7.224725209198368e-07, + 1.8002491515289876e-06, + -5.1742496509632474e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.3278999328613281, + 0.45587825775146484, + 0.9180000424385071 + ], + "ori": [ + 0.9998429417610168, + 8.972557452580077e-08, + -9.558174696167043e-09, + 0.017728041857481003 + ], + "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": [ + -1.9485518976125604e-08, + 6.059657664536644e-08, + -4.94346022605896e-06 + ], + "angular_velocity": [ + -3.2135621950146742e-06, + -7.919329618744086e-07, + 2.104911089872985e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -0.05778980255126953, + 0.4492959976196289, + 0.9179999828338623 + ], + "ori": [ + 0.9968805313110352, + -3.001187565132568e-07, + -4.8392891471849e-08, + 0.07892616093158722 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.0484848139167298e-06, + -1.0404094155092025e-06, + -5.297362804412842e-06 + ], + "angular_velocity": [ + -6.609375850530341e-05, + -1.72214386111591e-05, + -4.291749792173505e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.3898248672485352, + 0.7857847213745117, + 0.9179999828338623 + ], + "ori": [ + -0.775387704372406, + -7.683473768338445e-08, + -7.664694834375041e-08, + 0.6314854621887207 + ], + "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": [ + -8.951512597832334e-08, + 8.235824111579859e-08, + 1.7881393432617188e-07 + ], + "angular_velocity": [ + -2.8973388452868676e-06, + -4.0685445128474385e-06, + 4.227010130808395e-10 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 1.1999999999999964, + "step": 240, + "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": 2.6913323999955274e-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": 0.29071046458104416, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 110, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.34972724318504333, + 0.7024028897285461, + 0.0 + ], + "carrier_2": [ + 1.1842027604579926, + 0.00046712160110473633, + 0.0 + ], + "carrier_3": [ + -0.21743813157081604, + -0.002552211284637451, + 0.0 + ], + "carrier_4": [ + -1.547445684671402, + 0.3419063687324524, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.22845115599429766, + -0.2570358335832108, + 2.7554058516606865 + ], + "ori": [ + -13.475982139467925, + 10.935900949322267, + 8.015385777118432 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6678.565246307478, + "color": [ + 0.8471500504167437, + 0.8701071471322346, + 0.8233663528966257 + ], + "intensity": 13399.96654197044, + "width": 1.7945784467387862, + "height": 1.3396459600130768 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.4206513175730446, + -0.07737985450980145, + 1.6347607710943082 + ], + "ori": [ + 5.024283036202462, + 1.2894420706926653, + 2.1173604161313975 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6899.111780662566, + "color": [ + 0.8609144821900053, + 0.7686007369787569, + 0.9916656495907238 + ], + "intensity": 3406.387401953538, + "radius": 0.1873391772363322 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 981.1971784804381, + "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": [ + [ + 2.441591501235962, + -2.3043580055236816, + 2.6061956882476807, + -1.872375726699829, + -1.5702910423278809, + 4.01438570022583, + 0.007760610431432724, + 0.0070916772820055485 + ], + [ + 0.9141010642051697, + -1.7193975448608398, + 2.090498685836792, + -1.9419002532958984, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 2.80332088470459, + -1.6668096780776978, + 1.8982434272766113, + -1.8027970790863037, + -1.5717103481292725, + 4.3749494552612305, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 2.5276896953582764, + -2.237567901611328, + 2.074469804763794, + -1.4060311317443848, + -1.5710225105285645, + 4.099202632904053, + 0.007609221618622541, + 0.007394489832222462 + ] + ], + "joint_vel": [ + [ + 0.02725033275783062, + 0.044952575117349625, + -0.012005950324237347, + -0.033168379217386246, + -6.1073325923644e-05, + 0.02739071100950241, + -0.008228975348174572, + 0.0003346918383613229 + ], + [ + 2.413706336752668e-38, + -3.041780639889537e-38, + 0.0, + -5.9605774971483166e-37, + 7.108709533636812e-37, + 2.435631254312473e-36, + 0.0, + 1.0073793409145906e-37 + ], + [ + 6.811924777139211e-06, + 6.811880211898824e-06, + -3.405991265026387e-06, + 6.8119511524855625e-06, + -6.811957064201124e-06, + -2.7247828256804496e-05, + 1.8192316986187507e-07, + 1.819563806293445e-07 + ], + [ + -0.0009209690033458173, + -0.0021041855216026306, + -0.011067087762057781, + -0.001264170277863741, + 0.0035654252860695124, + -0.010316820815205574, + -0.004531830083578825, + 0.00010262693103868514 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05192304775118828, + 0.001104468130506575, + -0.031024279072880745, + -0.2930622100830078, + 0.6395975947380066, + 0.6525856852531433, + -0.2813563048839569 + ], + [ + 0.049991950392723083, + 0.0008864211267791688, + -0.033479172736406326, + -0.269766241312027, + 0.6507604122161865, + 0.6495356559753418, + -0.2860777676105499 + ], + [ + 0.05323067307472229, + 0.0030075700487941504, + -0.032537154853343964, + -0.27721717953681946, + 0.6583188772201538, + 0.6384263038635254, + -0.2866683304309845 + ], + [ + 0.049287792295217514, + 0.0006902935565449297, + -0.03191983327269554, + -0.29391399025917053, + 0.6417340636253357, + 0.6504616141319275, + -0.2805202901363373 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e023/wrist.mp4 b/episodes/c5_p000_e023/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..75f37e7c4ab529fa48a6b35f1115876c05c2aae6 --- /dev/null +++ b/episodes/c5_p000_e023/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c67620ffffb8d7ea772328264a1c186ffaaf8c016cb9810865851686163613bc +size 8735078 diff --git a/episodes/c5_p000_e024/data.npz b/episodes/c5_p000_e024/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..9e89ffbba9359ac6cf8b249a1b525371f36197d9 --- /dev/null +++ b/episodes/c5_p000_e024/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d29e11f72f7d78285d214c4ba8d45bc23685c167bb5de6f810238fd9af47e2d +size 192127 diff --git a/episodes/c5_p000_e024/device_events.jsonl b/episodes/c5_p000_e024/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..138d9e5406b81451e8d152edb1072af2c2d1bbc9 --- /dev/null +++ b/episodes/c5_p000_e024/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 3, "seq": 1, "step": 56, "t": 0.28, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 56, "t": 0.28, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 61, "t": 0.305, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1745, "t": 8.725, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 1867, "t": 9.335, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 6496, "t": 32.48, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 7104, "t": 35.52, "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": 8, "step": 7104, "t": 35.52, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.982436489737382}, "cause": "task-3-1"} +{"env_id": 3, "seq": 9, "step": 7104, "t": 35.52, "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": 10, "step": 7104, "t": 35.52, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7104, "t": 35.52, "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": 12, "step": 7523, "t": 37.615, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 13, "step": 7523, "t": 37.615, "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": 14, "step": 7523, "t": 37.615, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 7523, "t": 37.615, "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": 16, "step": 7523, "t": 37.615, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 7523, "t": 37.615, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 18, "step": 7523, "t": 37.615, "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": 19, "step": 7523, "t": 37.615, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7523, "t": 37.615, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.982436489737382}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8120, "t": 40.6, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 22, "step": 8120, "t": 40.6, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.985000000001527}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 8120, "t": 40.6, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.985000000001527}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 24, "step": 8120, "t": 40.6, "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": 25, "step": 8120, "t": 40.6, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8120, "t": 40.6, "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": 27, "step": 8540, "t": 42.7, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 28, "step": 8540, "t": 42.7, "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": 29, "step": 8540, "t": 42.7, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 8540, "t": 42.7, "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": 31, "step": 8540, "t": 42.7, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 32, "step": 8540, "t": 42.7, "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": 33, "step": 9119, "t": 45.595, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 34, "step": 10920, "t": 54.6, "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": 35, "step": 10920, "t": 54.6, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 36, "step": 10920, "t": 54.6, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 37, "step": 10920, "t": 54.6, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p000_e024/env.mp4 b/episodes/c5_p000_e024/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e61e40f24d95de3a2003e9c25a1c36cf8d9ab9d2 --- /dev/null +++ b/episodes/c5_p000_e024/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f647fb7d46079d57c2b45d063fd62758113c4cdb0f7fafb323b78b854c4b4ef +size 1180455 diff --git a/episodes/c5_p000_e024/meta.json b/episodes/c5_p000_e024/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eb6851950baed046d5cb1e767974192d50c7abca --- /dev/null +++ b/episodes/c5_p000_e024/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/24", + "fps": 25, + "frames": 1213, + "kept_ticks": "even", + "video_frames": { + "wrist": 1213, + "env": 1213 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e024/scene_snapshot.json b/episodes/c5_p000_e024/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..92d865667a8cef83318bcfce294fb7dcf8383711 --- /dev/null +++ b/episodes/c5_p000_e024/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 24, + "env_id": 3, + "run_id": "c5_p000", + "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_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 7.737581408928662e-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": 0.1932120342141251, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.19178095841043694, + "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": 0.1932120342141251, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.326101303100586, + 0.4502248764038086, + 0.8999999761581421 + ], + "ori": [ + 0.9999949336051941, + -1.293265938784316e-09, + 1.0421766205581662e-07, + 0.0031981314532458782 + ], + "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": [ + 1.7360939352784044e-09, + -1.8105211552210676e-07, + 8.195638656616211e-08 + ], + "angular_velocity": [ + 3.7018478451500414e-06, + 1.2982683301743236e-06, + 1.081243681255728e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.7288789749145508, + 1.1499958038330078, + 0.8999999761581421 + ], + "ori": [ + -1.4916582586010918e-05, + 1.358679280194508e-09, + 1.1973163571710188e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.4211299631815564e-11, + -2.4806920961850665e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.7051435463599773e-07, + 1.6059622964803566e-08, + 2.2609603078649343e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0051155090332031, + 1.1499900817871094, + 0.8999999761581421 + ], + "ori": [ + -0.0008352358127012849, + 3.0957869601166976e-09, + 7.597213169674433e-08, + 0.9999996423721313 + ], + "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": [ + 6.585788581148222e-10, + 6.125046581040294e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -6.300221144783791e-08, + 6.093806348417274e-08, + -8.012634999943202e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.04177665710449219, + 0.4499969482421875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.9241904453414236e-09, + 2.3617505173767483e-10, + 3.8162338000802265e-07 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.547299177673267e-09, + 6.077681691252224e-10, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -4.979586520903467e-08, + 1.5863082580835908e-07, + -5.038372830057369e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.311305046081543, + 0.4436359405517578, + 0.9179999828338623 + ], + "ori": [ + 0.9959655404090881, + -4.427368196502357e-07, + 5.808530190165584e-08, + 0.08973690122365952 + ], + "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": [ + 2.6951427116728155e-06, + -2.665078682184685e-06, + -2.78279185295105e-06 + ], + "angular_velocity": [ + 0.00014148832997307181, + 3.1514115107711405e-05, + -2.2885800717631355e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.7313432693481445, + 1.1566228866577148, + 0.9180000424385071 + ], + "ori": [ + -0.05599038302898407, + 1.2535471549668387e-09, + 2.9558844261146078e-09, + 0.998431384563446 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.684278316815835e-08, + -2.1741843880818124e-08, + -5.107372999191284e-06 + ], + "angular_velocity": [ + 7.51543893784401e-08, + 1.4874725593472249e-06, + 1.1809389377503976e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -0.9955453872680664, + 1.1469230651855469, + 0.9180000424385071 + ], + "ori": [ + 0.08550272136926651, + -2.7209585695686656e-09, + 7.900100484903305e-08, + 0.9963380098342896 + ], + "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": [ + 1.764857238129025e-08, + -9.144141444039633e-09, + -4.895031452178955e-06 + ], + "angular_velocity": [ + 1.7350657799397595e-08, + 9.240179679181892e-07, + 1.837207292965104e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -0.03891277313232422, + 0.4566631317138672, + 0.9179999828338623 + ], + "ori": [ + 0.9972254633903503, + 3.4545324378854048e-09, + -6.547805075918234e-10, + 0.0744418203830719 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.502729934406034e-08, + -3.6694018490379676e-08, + -3.200024366378784e-06 + ], + "angular_velocity": [ + 1.8723048924584873e-06, + -1.556180677653174e-06, + -8.021333997021429e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 6.299999999999888, + "step": 1260, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 7.737581408928662e-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": 0.1932120342141251, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1203, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.1761012971401215, + 0.00022488832473754883, + 0.0 + ], + "carrier_2": [ + 0.5788789689540863, + 0.6999958157539368, + 0.0 + ], + "carrier_3": [ + -1.1551155149936676, + 0.6999900937080383, + 0.0 + ], + "carrier_4": [ + -0.19177666306495667, + -3.039836883544922e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.035114381645494075, + -0.02296060162740854, + 2.826293513269456 + ], + "ori": [ + -0.19530908616872722, + -0.569685375701404, + 14.178569023205952 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6066.633507853721, + "color": [ + 0.8807357762753615, + 0.9468542795595124, + 0.7925967413914866 + ], + "intensity": 13413.1092426979, + "width": 1.8011277896064364, + "height": 1.8930832355006497 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.8579609873672113, + 0.9385192024350484, + 2.4362735227821117 + ], + "ori": [ + 38.720362547104656, + 33.75998281640682, + -0.15348709799698668 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5140.313895537292, + "color": [ + 0.9386002892481707, + 0.9830293375502246, + 0.9822523089038309 + ], + "intensity": 9573.371374117474, + "radius": 0.40059641659071066 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 981.1971784804381, + "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": [ + [ + 1.3471271991729736, + -1.3049579858779907, + 2.271862745285034, + -2.537074089050293, + -1.5721676349639893, + 6.065811634063721, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + -0.24335011839866638, + -2.348670482635498, + 2.3773555755615234, + -1.5981215238571167, + -1.575847864151001, + 4.533979415893555, + 0.01799999363720417, + 0.018000004813075066 + ], + [ + 1.5249090194702148, + -1.324662208557129, + 2.244901180267334, + -2.4906651973724365, + -1.5707124471664429, + 6.231652736663818, + 0.018000030890107155, + 0.01799997128546238 + ], + [ + 0.914101779460907, + -1.7193989753723145, + 2.090500593185425, + -1.9419009685516357, + -1.5707999467849731, + 2.48490047454834, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -3.405960114832851e-06, + 6.811837920395192e-06, + 1.3623860468214843e-05, + -1.3623919585370459e-05, + -6.811954335717019e-06, + 2.72478300757939e-05, + 1.8190904427228816e-07, + 1.8193810547018074e-07 + ], + [ + 2.6853984908067495e-38, + -1.3765141187758433e-38, + -2.2619179673566967e-38, + -2.5408866159205083e-37, + -2.8654522273188624e-37, + -1.9332763822995795e-36, + 7.797120105124122e-08, + -7.797118684038651e-08 + ], + [ + 9.803587454371154e-05, + -0.017942652106285095, + -0.006000491790473461, + 0.02274966984987259, + -5.34632681592484e-06, + -4.167433871771209e-05, + -9.094615052163135e-06, + 9.044894795806613e-06 + ], + [ + -2.2287930933480616e-38, + 2.1108086671965372e-38, + 1.461575598027442e-38, + 4.5936438037393384e-37, + -5.9921854095173814e-37, + -3.6442306872038854e-37, + 9.829366599571885e-38, + -8.961483045560639e-38 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05111178755760193, + 0.0024218205362558365, + -0.031318508088588715, + -0.2899501621723175, + 0.6375682950019836, + 0.6557957530021667, + -0.2817223370075226 + ], + [ + 0.050189655274152756, + -0.00033613218693062663, + -0.03167412430047989, + -0.27259618043899536, + 0.6536076068878174, + 0.6500617861747742, + -0.275514155626297 + ], + [ + 0.05256737396121025, + 0.0012729016598314047, + -0.03293897211551666, + -0.27691003680229187, + 0.6569666862487793, + 0.6399566531181335, + -0.2866550385951996 + ], + [ + 0.04942093789577484, + 0.003440978704020381, + -0.03240474313497543, + -0.2960463762283325, + 0.6436920762062073, + 0.6470538973808289, + -0.28167060017585754 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e024/wrist.mp4 b/episodes/c5_p000_e024/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a97b500dc723998627c9126d2df6d523e199caa1 --- /dev/null +++ b/episodes/c5_p000_e024/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7f72b3420efb0b39a576d92c98c0d2da8a5d97ee3a73fadc139ace070fd20e0 +size 6663055 diff --git a/episodes/c5_p000_e025/data.npz b/episodes/c5_p000_e025/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..77e56bcbf901bd9a31bc7ffe35fd0f2e7845b226 --- /dev/null +++ b/episodes/c5_p000_e025/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7bb9f89b34d9436aad80fdadfdd85a6b626bc780f7544825ac8297b18f5b0d7 +size 188166 diff --git a/episodes/c5_p000_e025/device_events.jsonl b/episodes/c5_p000_e025/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ddeba810afd91d57cc3cf059783af1c189140bba --- /dev/null +++ b/episodes/c5_p000_e025/device_events.jsonl @@ -0,0 +1,38 @@ +{"env_id": 2, "seq": 1, "step": 38, "t": 0.19, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 38, "t": 0.19, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 43, "t": 0.215, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 777, "t": 3.885, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 836, "t": 4.18, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 880, "t": 4.4, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 5620, "t": 28.1, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 8, "step": 6228, "t": 31.14, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 9, "step": 6228, "t": 31.14, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.5436632977904767}, "cause": "task-2-1"} +{"env_id": 2, "seq": 10, "step": 6228, "t": 31.14, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 11, "step": 6228, "t": 31.14, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 6228, "t": 31.14, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 6647, "t": 33.235, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 14, "step": 6647, "t": 33.235, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 6647, "t": 33.235, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 16, "step": 6647, "t": 33.235, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 17, "step": 6647, "t": 33.235, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 18, "step": 6647, "t": 33.235, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 19, "step": 6647, "t": 33.235, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 6647, "t": 33.235, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 21, "step": 6647, "t": 33.235, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.5436632977904767}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 6956, "t": 34.78, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 23, "step": 6956, "t": 34.78, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.5450000000007904}, "cause": "program-2-3"} +{"env_id": 2, "seq": 24, "step": 6956, "t": 34.78, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.5450000000007904}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 25, "step": 6956, "t": 34.78, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 26, "step": 6956, "t": 34.78, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 27, "step": 6956, "t": 34.78, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 7376, "t": 36.88, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 29, "step": 7376, "t": 36.88, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.0233921749788237e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 7376, "t": 36.88, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.0233921749788237e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 31, "step": 7376, "t": 36.88, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 32, "step": 7376, "t": 36.88, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 33, "step": 7376, "t": 36.88, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 34, "step": 7954, "t": 39.77, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 9724, "t": 48.62, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 36, "step": 9724, "t": 48.62, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 37, "step": 9724, "t": 48.62, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 38, "step": 9724, "t": 48.62, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p000_e025/env.mp4 b/episodes/c5_p000_e025/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..68d14149b33fed7af2b49655477cde9c45b50fa2 --- /dev/null +++ b/episodes/c5_p000_e025/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f492c2c2668f0481f416b7a7acac4862b62c6566705330ad22b8f07873daaf2a +size 1302908 diff --git a/episodes/c5_p000_e025/meta.json b/episodes/c5_p000_e025/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..26b410f7e2989e03816899235fa023385c596501 --- /dev/null +++ b/episodes/c5_p000_e025/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/25", + "fps": 25, + "frames": 1177, + "kept_ticks": "even", + "video_frames": { + "wrist": 1177, + "env": 1177 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e025/scene_snapshot.json b/episodes/c5_p000_e025/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..e8551c73e796af1102fa8ba935b99c90752c3d3e --- /dev/null +++ b/episodes/c5_p000_e025/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 25, + "env_id": 2, + "run_id": "c5_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 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": 0.18337795536757298, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.09014352035614528, + "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": 0.18337795536757298, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3283281326293945, + 0.5896062850952148, + 0.8999999761581421 + ], + "ori": [ + 0.8944157361984253, + -4.0410736090734645e-08, + -5.4754380585109175e-08, + -0.4472365975379944 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.969137380404163e-09, + 1.698643004033329e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -1.3899295936425915e-07, + -2.3463519482902484e-07, + -3.682154137152338e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.2610349655151367, + 1.1500043869018555, + 0.8999999761581421 + ], + "ori": [ + 7.82477218308486e-05, + 6.134154989512197e-11, + -2.297258827610449e-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": [ + -3.450840724283921e-10, + -1.3838868939686222e-09, + 0.0 + ], + "angular_velocity": [ + 1.2231706136844878e-07, + -2.079433336632519e-08, + -5.054104690316308e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.060394287109375, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.3048090930520857e-09, + 3.6759950639009276e-09, + -1.0734892384789418e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.45461042789475e-10, + 7.244637112435726e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -4.788441998471171e-08, + 9.126176081508675e-08, + -6.438881428039167e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5906782150268555, + 1.0526800155639648, + 0.8999999761581421 + ], + "ori": [ + 0.3722165822982788, + 9.598332439963997e-08, + -3.781072877018232e-08, + 0.9281459450721741 + ], + "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": [ + -6.891659687369156e-09, + -4.097502781519324e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + 2.971902688386763e-07, + -5.152286348675261e-07, + -3.317280317105542e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.3290214538574219, + 0.5997819900512695, + 0.9179999828338623 + ], + "ori": [ + 0.93183833360672, + -4.4833669221588934e-08, + -5.144064374462687e-08, + -0.36287370324134827 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.650240725823096e-08, + 9.172418913294678e-08, + 1.7136335372924805e-07 + ], + "angular_velocity": [ + -1.1864650559800793e-06, + -3.37285382556729e-06, + 4.784899374499219e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.27391529083251953, + 1.1464462280273438, + 0.9180000424385071 + ], + "ori": [ + 0.09999141842126846, + -8.914287641381691e-10, + -2.114004304942796e-09, + 0.9949883818626404 + ], + "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": [ + 2.143835686752027e-08, + -1.484774703186531e-08, + -5.11854887008667e-06 + ], + "angular_velocity": [ + 2.0084644347662106e-07, + 1.8550014146967442e-06, + 9.676764278765404e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.048073768615722656, + 0.45610904693603516, + 0.9180000424385071 + ], + "ori": [ + 0.9999858736991882, + 2.2799562238162707e-09, + 2.476105542825735e-09, + -0.00532434182241559 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.055884682609758e-10, + 5.340428543831877e-09, + -5.248934030532837e-06 + ], + "angular_velocity": [ + 1.1136363582409103e-06, + -1.7788948980523855e-06, + -6.986159917232726e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.5837326049804688, + 1.0621318817138672, + 0.9179999828338623 + ], + "ori": [ + 0.3405298590660095, + 9.297482961301284e-08, + -4.0323861583146936e-08, + 0.9402337074279785 + ], + "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": [ + 5.681414094738102e-08, + -1.6409464365096937e-07, + -9.387731552124023e-07 + ], + "angular_velocity": [ + 3.3910225738509325e-06, + 2.823210934366216e-06, + 3.3651315334282117e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 1.779999999999984, + "step": 356, + "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": 0.18337795536757298, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 317, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.478328138589859, + 0.1396062970161438, + 0.0 + ], + "carrier_2": [ + -0.4110349714756012, + 0.7000043988227844, + 0.0 + ], + "carrier_3": [ + -0.08960571885108948, + 7.748603820800781e-07, + 0.0 + ], + "carrier_4": [ + 1.440678209066391, + 0.6026800274848938, + 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 + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.727129080842141, + 0.3728615109926361, + 2.91974021312344 + ], + "ori": [ + 9.663720241877115, + -3.3867320145501516, + -1.5828242130688999 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3946.8531340258583, + "color": [ + 0.9059164347790702, + 0.8828916335972744, + 0.9381680671667627 + ], + "intensity": 12833.78275593698, + "width": 2.1211015398826074, + "height": 1.1585692043296096 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.1904375761997148, + 0.8308785864747741, + 1.9630365175412434 + ], + "ori": [ + -36.79161156258205, + -1.2583616464075078, + -39.84831608498459 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5358.75842443933, + "color": [ + 0.8695983744742359, + 0.8683502680314679, + 0.8898848726217277 + ], + "intensity": 4618.6346273798845, + "radius": 0.13944774085202652 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 778.9774354172171, + "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": [ + [ + 0.9141006469726562, + -1.7193981409072876, + 2.0904994010925293, + -1.9419004917144775, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + -0.24646827578544617, + -2.335850715637207, + 2.4045519828796387, + -1.6385951042175293, + -1.574053406715393, + 4.529552459716797, + 0.018000079318881035, + 0.0179999191313982 + ], + [ + 0.9141015410423279, + -1.719399333000183, + 2.0905001163482666, + -1.9419007301330566, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 1.0884321928024292, + -1.2734016180038452, + 2.1691181659698486, + -2.4665956497192383, + -1.5707393884658813, + 2.5103843212127686, + 0.007741109933704138, + 0.007157639600336552 + ] + ], + "joint_vel": [ + [ + 2.88169630332507e-38, + 0.0, + -1.2240224376806274e-38, + -6.656526437949748e-37, + 3.3488706020873577e-37, + 2.1489701161716178e-37, + -2.502413013699515e-38, + -4.496696146575736e-38 + ], + [ + -0.0018567218212410808, + 0.007570414803922176, + 0.01569676771759987, + -0.022780446335673332, + 0.00101209688000381, + -0.0024928925558924675, + 3.3622238788666436e-06, + -3.3604226246097824e-06 + ], + [ + 2.18281705125295e-38, + -2.3042803409720073e-38, + -1.890754641812518e-38, + -3.1755842403269165e-37, + 5.299224261249645e-37, + -5.722950460346463e-37, + -2.5990400942532688e-08, + 2.599039028439165e-08 + ], + [ + 0.0002580007421784103, + -0.01918659545481205, + -0.006641855929046869, + 0.02456033229827881, + -0.00017072870105039328, + -0.0007755870465189219, + -0.007155701983720064, + 0.0003097421722486615 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05130673572421074, + -8.639284351374954e-05, + -0.031710486859083176, + -0.28334078192710876, + 0.6380611658096313, + 0.6579394936561584, + -0.28233230113983154 + ], + [ + 0.05078988894820213, + 0.0004945907276123762, + -0.03183485567569733, + -0.2706616520881653, + 0.6535552740097046, + 0.6494624614715576, + -0.27893784642219543 + ], + [ + 0.05290453881025314, + 0.001747594098560512, + -0.03147685155272484, + -0.2770697772502899, + 0.6556344628334045, + 0.6431247591972351, + -0.28242942690849304 + ], + [ + 0.049881711602211, + 0.00019791300292126834, + -0.0328233540058136, + -0.29480528831481934, + 0.6388520002365112, + 0.6507312059402466, + -0.2854941189289093 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e025/wrist.mp4 b/episodes/c5_p000_e025/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5d4274a8f3711f4f76e24f9972822aabda6ff664 --- /dev/null +++ b/episodes/c5_p000_e025/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a45deb2de54917bc9ce2ef5480878567805eca01d4fd815e3e4bd4d0f7a53411 +size 6252017 diff --git a/episodes/c5_p000_e026/data.npz b/episodes/c5_p000_e026/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..3b25ec906d69bd44052552710be074e18c98fa9a --- /dev/null +++ b/episodes/c5_p000_e026/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b4e93e09eee3c76122469dd55721dade51ef54c9e91141e2cb79348298dbdd0 +size 202543 diff --git a/episodes/c5_p000_e026/device_events.jsonl b/episodes/c5_p000_e026/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..470fc3cb669dfc3cbd1de962127ed0485ea5f5e9 --- /dev/null +++ b/episodes/c5_p000_e026/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 156, "t": 0.78, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 156, "t": 0.78, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 161, "t": 0.805, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 5655, "t": 28.275, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6268, "t": 31.34, "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": 6268, "t": 31.34, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.2492821630864768}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6268, "t": 31.34, "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": 6268, "t": 31.34, "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": 6268, "t": 31.34, "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": 6687, "t": 33.435, "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": 6687, "t": 33.435, "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": 6687, "t": 33.435, "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": 6687, "t": 33.435, "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": 6687, "t": 33.435, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 6687, "t": 33.435, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 6687, "t": 33.435, "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": 6687, "t": 33.435, "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": 6687, "t": 33.435, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.2492821630864768}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7137, "t": 35.685, "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": 7137, "t": 35.685, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.250000000001151}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7137, "t": 35.685, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.250000000001151}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7137, "t": 35.685, "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": 7137, "t": 35.685, "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": 7137, "t": 35.685, "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": 7557, "t": 37.785, "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": 7557, "t": 37.785, "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": 7557, "t": 37.785, "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": 7557, "t": 37.785, "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": 7557, "t": 37.785, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 7557, "t": 37.785, "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": 8139, "t": 40.695, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 10356, "t": 51.78, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 33, "step": 10356, "t": 51.78, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 10356, "t": 51.78, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10356, "t": 51.78, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p000_e026/env.mp4 b/episodes/c5_p000_e026/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..19e7d17c3f2e9f2d9e1a3b7f62afd24415af4a25 --- /dev/null +++ b/episodes/c5_p000_e026/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39f0e18fed007454b97e0545a8a156a9aeeb0c3b4abf1e0da7d4048b40d90782 +size 1333853 diff --git a/episodes/c5_p000_e026/meta.json b/episodes/c5_p000_e026/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9fcd089833d9fbb46430562a59ede82c595cdb1b --- /dev/null +++ b/episodes/c5_p000_e026/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/26", + "fps": 25, + "frames": 1226, + "kept_ticks": "even", + "video_frames": { + "wrist": 1226, + "env": 1226 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e026/scene_snapshot.json b/episodes/c5_p000_e026/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..10f10fb72312090d74ef2a7eaa95085508aa67be --- /dev/null +++ b/episodes/c5_p000_e026/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 26, + "env_id": 0, + "run_id": "c5_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5240573883056641, + 0.07274436950683594, + 0.8999999761581421 + ], + "ori": [ + -0.6924200057983398, + 0.0, + 0.0, + 0.7214946746826172 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.382666101033662e-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": 0.20740657927835138, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.24993260034462947, + "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": 0.20740657927835138, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.14700889587402344, + 1.1499881744384766, + 0.8999999761581421 + ], + "ori": [ + 2.529080302338116e-05, + -1.4647636881193193e-08, + -2.576281188382268e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.210295528357278e-10, + -3.086046973521661e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 2.4370315543364995e-08, + -2.995670200789391e-08, + -5.0381707694668876e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.9965591430664062, + 1.150303840637207, + 0.8999999761581421 + ], + "ori": [ + 0.0024961859453469515, + -4.922620178149373e-08, + -1.1241372277481787e-08, + 0.9999969005584717 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.4856668379722464e-10, + 1.1112218922804118e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -4.168899181422603e-08, + 3.556451488861967e-08, + -4.270385822735534e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6929235458374023, + 0.8552751541137695, + 0.8999999761581421 + ], + "ori": [ + 0.6542824506759644, + -5.050922524674206e-08, + 9.005396428563017e-09, + 0.756250262260437 + ], + "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": [ + -4.318165547356756e-10, + -1.528188131594277e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.8918672850531948e-08, + -8.88875604232453e-08, + 1.0526476579286737e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.09969520568847656, + 0.44722461700439453, + 0.8999999761581421 + ], + "ori": [ + 0.9999546408653259, + 4.7990327267655175e-09, + -1.3659835415569255e-11, + 0.009525363333523273 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.084202061463202e-09, + 3.637126155808801e-10, + 0.0 + ], + "angular_velocity": [ + -1.1980790759480442e-07, + 5.1985335147719525e-08, + -2.23922107522867e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.15213584899902344, + 1.144270896911621, + 0.9179999828338623 + ], + "ori": [ + -0.04786479100584984, + -1.4280627347318386e-08, + -3.1674307621187836e-09, + 0.9988539218902588 + ], + "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": [ + 2.607516336183835e-08, + 3.327830455646108e-09, + 1.0058283805847168e-07 + ], + "angular_velocity": [ + -6.839737238806265e-07, + 1.5605412500008242e-06, + 1.1180790693288145e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -1.004648208618164, + 1.152501106262207, + 0.9180000424385071 + ], + "ori": [ + 0.05212508141994476, + -4.7880593712079644e-08, + -3.9738605295269736e-08, + 0.9986406564712524 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.709531419346604e-08, + 4.249842788794922e-08, + -5.494803190231323e-06 + ], + "angular_velocity": [ + -9.41208145377459e-06, + 2.672938762771082e-06, + 5.62526622616133e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.6937713623046875, + 0.8522319793701172, + 0.9180000424385071 + ], + "ori": [ + 0.5953169465065002, + -5.060256214051151e-08, + 1.1319608361759492e-08, + 0.803490936756134 + ], + "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": [ + 7.41035410811719e-09, + -1.337225441488954e-08, + -5.859881639480591e-06 + ], + "angular_velocity": [ + 1.4164531876303954e-06, + 9.534937817079481e-07, + -1.2644642666259642e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -0.08991813659667969, + 0.45780277252197266, + 0.9179999828338623 + ], + "ori": [ + 0.998643159866333, + 4.185527480160545e-09, + -5.173768080624086e-10, + 0.052075888961553574 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.876656755139265e-08, + -4.9599194085203635e-08, + -1.2218952178955078e-06 + ], + "angular_velocity": [ + 2.292284079885576e-06, + -2.6016650735982694e-06, + 1.283999324641627e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 2.959999999999959, + "step": 592, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.382666101033662e-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": 0.20740657927835138, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 435, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.00299111008644104, + 0.6999881863594055, + 0.0 + ], + "carrier_2": [ + -1.1465591490268707, + 0.700303852558136, + 0.0 + ], + "carrier_3": [ + 1.5429235398769379, + 0.4052751660346985, + 0.0 + ], + "carrier_4": [ + -0.24969521164894104, + -0.0027753710746765137, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.3981320560105719, + 0.30362208353433695, + 2.7354695536724964 + ], + "ori": [ + 12.919799043742632, + -8.097085094162129, + -4.899367524051666 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3371.316899889771, + "color": [ + 0.9934411949581705, + 0.9016764854464436, + 0.9219522860529739 + ], + "intensity": 5001.443759146284, + "width": 2.019050649986978, + "height": 1.4807932429045612 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.8387886418108135, + -0.7950500100072762, + 2.460961648067748 + ], + "ori": [ + -24.409922148539735, + 38.73146797465506, + -35.06753054561858 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6697.614826068898, + "color": [ + 0.8110463333866008, + 0.998135368011605, + 0.9766763733484615 + ], + "intensity": 8704.745755013857, + "radius": 0.27983542882185347 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 778.9774354172171, + "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": [ + [ + 0.9141027927398682, + -1.7193981409072876, + 2.0904994010925293, + -1.9419004917144775, + -1.5707999467849731, + 2.4849014282226562, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + -0.26046836376190186, + -2.160231113433838, + 2.7409682273864746, + -2.1515443325042725, + -1.5706264972686768, + 4.512777328491211, + 0.007261995226144791, + 0.006449070293456316 + ], + [ + 0.9041908383369446, + -1.2297625541687012, + 2.1684491634368896, + -2.5094268321990967, + -1.5708650350570679, + 2.485400915145874, + 0.007716934196650982, + 0.007079840637743473 + ], + [ + 1.0886025428771973, + -1.4672777652740479, + 2.0593042373657227, + -2.1618447303771973, + -1.5709681510925293, + 2.509673595428467, + 0.00697168055921793, + 0.008187169209122658 + ] + ], + "joint_vel": [ + [ + 2.3442464942133226e-38, + -1.9684810242526084e-38, + 1.2493220406749334e-38, + -7.104645095467007e-37, + 6.121480640431458e-37, + -3.011666534104218e-36, + 2.5990386731677972e-08, + -2.5990386731677972e-08 + ], + [ + -0.00044135472853668034, + -5.33369711774867e-05, + 0.0003344756842125207, + -0.0003784213913604617, + -0.005341355688869953, + 0.012047650292515755, + -0.011195133440196514, + 0.0003550900728441775 + ], + [ + -0.00022908112441655248, + 1.608487218618393e-05, + -0.0003652226005215198, + -0.0023390185087919235, + 0.0028321254067122936, + 0.009003167040646076, + -0.008765227161347866, + 0.00030597689328715205 + ], + [ + -0.00038449320709332824, + -0.0004732009256258607, + -0.0026347427628934383, + -0.003410105127841234, + 0.003551902947947383, + 0.012359500862658024, + -0.004711098037660122, + 0.0003830820496659726 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05276215821504593, + 0.0006548481178469956, + -0.03227675333619118, + -0.2878606617450714, + 0.6378991007804871, + 0.6596657633781433, + -0.27397459745407104 + ], + [ + 0.05259418487548828, + 0.00034291730844415724, + -0.03148091584444046, + -0.2729569673538208, + 0.6504830718040466, + 0.650027334690094, + -0.2825433313846588 + ], + [ + 0.05216625705361366, + 0.0015195582527667284, + -0.03100704401731491, + -0.27715054154396057, + 0.6522588729858398, + 0.6450724005699158, + -0.2857053875923157 + ], + [ + 0.05027643218636513, + -0.0002100849524140358, + -0.029079819098114967, + -0.29731616377830505, + 0.6384732723236084, + 0.6536799669265747, + -0.27687084674835205 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e026/wrist.mp4 b/episodes/c5_p000_e026/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2ff632a234f4b12d9d97c02a17bdf10790db6eca --- /dev/null +++ b/episodes/c5_p000_e026/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7efd9d457e0c56a9b063df2ad26bd3043d51f9f254fe791472216a516e5f7cf +size 7496919 diff --git a/episodes/c5_p000_e027/data.npz b/episodes/c5_p000_e027/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..7bcada91ac88fd231430a8b01891bdbefbb8526b --- /dev/null +++ b/episodes/c5_p000_e027/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e2d7525537915a109489be20efe1b6b43b8ee6065478235f0a4d5854f85b80c +size 202164 diff --git a/episodes/c5_p000_e027/device_events.jsonl b/episodes/c5_p000_e027/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1eb570ad6c7bc5f7544db40de52e7bc29e05da72 --- /dev/null +++ b/episodes/c5_p000_e027/device_events.jsonl @@ -0,0 +1,39 @@ +{"env_id": 1, "seq": 1, "step": 94, "t": 0.47, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 94, "t": 0.47, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 99, "t": 0.495, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 2075, "t": 10.375, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 2175, "t": 10.875, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 2227, "t": 11.135, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 7, "step": 2265, "t": 11.325, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 8, "step": 6926, "t": 34.63, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 7540, "t": 37.7, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 10, "step": 7540, "t": 37.7, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.0879387975292136}, "cause": "task-1-1"} +{"env_id": 1, "seq": 11, "step": 7540, "t": 37.7, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 7540, "t": 37.7, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 13, "step": 7540, "t": 37.7, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7959, "t": 39.795, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 15, "step": 7959, "t": 39.795, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 16, "step": 7959, "t": 39.795, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 17, "step": 7959, "t": 39.795, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 18, "step": 7959, "t": 39.795, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 19, "step": 7959, "t": 39.795, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 20, "step": 7959, "t": 39.795, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7959, "t": 39.795, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 22, "step": 7959, "t": 39.795, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.0879387975292136}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 8377, "t": 41.885, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 24, "step": 8377, "t": 41.885, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.0900000000010692}, "cause": "program-1-3"} +{"env_id": 1, "seq": 25, "step": 8377, "t": 41.885, "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": 2.0900000000010692}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 26, "step": 8377, "t": 41.885, "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": 27, "step": 8377, "t": 41.885, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 28, "step": 8377, "t": 41.885, "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": 29, "step": 8797, "t": 43.985, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 30, "step": 8797, "t": 43.985, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.169770555037758e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 31, "step": 8797, "t": 43.985, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.169770555037758e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 32, "step": 8797, "t": 43.985, "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": 33, "step": 8797, "t": 43.985, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 34, "step": 8797, "t": 43.985, "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": 35, "step": 9377, "t": 46.885, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 11628, "t": 58.14, "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": 37, "step": 11628, "t": 58.14, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 38, "step": 11628, "t": 58.14, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 39, "step": 11628, "t": 58.14, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p000_e027/env.mp4 b/episodes/c5_p000_e027/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6130ddbd3412540f07207e609a247999c58faf18 --- /dev/null +++ b/episodes/c5_p000_e027/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee00aa7e67b92f98d9332ab055e7259e96ee74a173a104fc06d96654fb123b98 +size 1321687 diff --git a/episodes/c5_p000_e027/meta.json b/episodes/c5_p000_e027/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..632dc0197cbdf5127fd3ffa2b78871bda3eae213 --- /dev/null +++ b/episodes/c5_p000_e027/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/27", + "fps": 25, + "frames": 1253, + "kept_ticks": "even", + "video_frames": { + "wrist": 1253, + "env": 1253 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e027/scene_snapshot.json b/episodes/c5_p000_e027/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..775d5e513ad91766e9715255d57396bb36463f86 --- /dev/null +++ b/episodes/c5_p000_e027/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 27, + "env_id": 1, + "run_id": "c5_p000", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5098752975463867, + 0.08571529388427734, + 0.8999999761581421 + ], + "ori": [ + 0.7111824154853821, + 0.0, + 0.0, + -0.7030075192451477 + ], + "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": [ + 3.700583676297109e-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": 0.22301291825706693, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.18837867919942206, + "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": 0.22301291825706693, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.148672103881836, + 1.132791519165039, + 0.8999999761581421 + ], + "ori": [ + -0.1379595547914505, + -1.0249612358848026e-07, + -6.330435553536518e-08, + 0.990437924861908 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.8683990999952584e-09, + 1.3132734011378489e-08, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -6.535199190693675e-07, + -3.869115801080625e-07, + 4.367132078186842e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.03836250305175781, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.6324240847964688e-09, + -3.5258507224966706e-09, + 2.081288766930811e-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": [ + 1.537113547556146e-09, + 2.612678517976974e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -2.0947780399183102e-07, + 1.471441919420613e-07, + -6.714926392703546e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.770564079284668, + 1.1529340744018555, + 0.8999999761581421 + ], + "ori": [ + -0.00816254410892725, + 1.1166538804729953e-08, + -1.628693180322216e-09, + 0.9999666810035706 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.899197879661756e-10, + 7.2925476768404e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -6.7473493459147e-08, + 6.489590731462158e-08, + 2.7725648443777118e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6596260070800781, + 0.6432409286499023, + 0.8999999761581421 + ], + "ori": [ + 0.8557306528091431, + -5.0444825205886445e-08, + 1.3092486028654093e-07, + 0.5174216628074646 + ], + "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": [ + -1.3377985386142655e-09, + 8.695772990563455e-10, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -1.483184419726058e-08, + -1.7418038567029726e-07, + -3.6353946519795954e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.1441373825073242, + 1.1463546752929688, + 0.9179999828338623 + ], + "ori": [ + -0.16276398301124573, + 1.6859506501987198e-07, + -6.058876920178591e-07, + 0.9866651296615601 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.321673820115393e-06, + -3.793524683715077e-06, + -3.423541784286499e-06 + ], + "angular_velocity": [ + 5.641624738927931e-06, + -5.332646469469182e-05, + -4.252956568961963e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -0.02999591827392578, + 0.4392070770263672, + 0.9180000424385071 + ], + "ori": [ + 0.9949737787246704, + 8.392950778812747e-10, + -3.5278737708921426e-09, + -0.10013581812381744 + ], + "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": [ + -8.292537323484339e-09, + 2.471082360955279e-08, + -5.647540092468262e-06 + ], + "angular_velocity": [ + -6.819322493356594e-07, + -1.4651225228590192e-06, + 1.9130956374624475e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.7608976364135742, + 1.1475286483764648, + 0.9179999828338623 + ], + "ori": [ + -0.0568901002407074, + 1.1150770085066597e-08, + -2.525354592108897e-09, + 0.9983804821968079 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.6219101556534952e-08, + 2.821253985985095e-08, + -5.7443976402282715e-06 + ], + "angular_velocity": [ + -7.598186471113877e-07, + 1.5649870874767657e-06, + 1.1846658765080065e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.647547721862793, + 0.6346321105957031, + 0.9179999828338623 + ], + "ori": [ + 0.8174960613250732, + -3.280263882743384e-08, + 1.4104141143889137e-07, + 0.575934112071991 + ], + "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": [ + -1.008577577010783e-08, + -5.8976027617063664e-08, + 1.9371509552001953e-07 + ], + "angular_velocity": [ + 3.443745299591683e-06, + 1.0511544132896233e-06, + 2.38862895685088e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 8.219999999999885, + "step": 1644, + "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": 3.700583676297109e-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": 0.22301291825706693, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1549, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.2986721098423004, + 0.682791531085968, + 0.0 + ], + "carrier_2": [ + -0.1883625090122223, + 2.682209014892578e-06, + 0.0 + ], + "carrier_3": [ + 0.6205640733242035, + 0.7029340863227844, + 0.0 + ], + "carrier_4": [ + 1.5096260011196136, + 0.1932409405708313, + 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": [ + 0.3701577787181417, + 0.42756636534757786, + 2.7536783220061682 + ], + "ori": [ + 10.948798281126276, + -0.6970253437501412, + -9.466741410584454 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7139.145005107615, + "color": [ + 0.8751533050557556, + 0.8590459901218657, + 0.928381366670344 + ], + "intensity": 10308.053756918549, + "width": 2.263716772686564, + "height": 1.7401142501587328 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.066950131104441, + -0.17615076616815117, + 1.7056044757865545 + ], + "ori": [ + 33.876421987370065, + 7.27551814282738, + -27.774046257202922 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4402.116360530747, + "color": [ + 0.7921938520148626, + 0.8065770932857428, + 0.9219483259471589 + ], + "intensity": 3349.715121064661, + "radius": 0.15779827581748956 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 778.9774354172171, + "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": [ + [ + 2.7558963298797607, + -1.6534937620162964, + 2.2777581214904785, + -2.194913148880005, + -1.5708016157150269, + 4.32592248916626, + 0.00782881211489439, + 0.007186457980424166 + ], + [ + 0.9141026735305786, + -1.7193981409072876, + 2.0904998779296875, + -1.9419008493423462, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.52738356590271, + -2.2378745079040527, + 2.0734610557556152, + -1.4063512086868286, + -1.5708364248275757, + 4.098487854003906, + 0.00776253454387188, + 0.007029696833342314 + ], + [ + 1.5099208354949951, + -2.0454883575439453, + 2.607206106185913, + -2.132301092147827, + -1.5705584287643433, + 4.353770732879639, + 0.007794850971549749, + 0.0070023611187934875 + ] + ], + "joint_vel": [ + [ + -0.00739763118326664, + -0.02158110775053501, + 0.017914965748786926, + 0.0018631607526913285, + 5.0978105718968436e-05, + -0.008189302869141102, + -0.007683341857045889, + 0.0004722531884908676 + ], + [ + -2.8463154789187184e-38, + 1.4771798972067774e-38, + 1.1780178090968436e-38, + 6.874627669845823e-37, + -3.5732617583223393e-37, + 3.7209252095067855e-37, + 2.5990388508034812e-08, + -2.5990386731677972e-08 + ], + [ + -0.00015169699327088892, + -5.260033140075393e-05, + -0.00037492450792342424, + 0.0002260022738482803, + 0.0005153464735485613, + -0.0015668495325371623, + -0.008960986509919167, + 0.00039527032640762627 + ], + [ + -0.07317256927490234, + -0.005313986912369728, + -0.00858366396278143, + 0.012958266772329807, + -5.014381531509571e-05, + 0.018220193684101105, + -0.009172200225293636, + 0.00013294964446686208 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.053211189806461334, + 0.0011586309410631657, + -0.030793655663728714, + -0.28785240650177, + 0.6394577622413635, + 0.654172420501709, + -0.2833605110645294 + ], + [ + 0.04972126707434654, + -0.0014670826494693756, + -0.030547993257641792, + -0.26727330684661865, + 0.6545438170433044, + 0.6490509510040283, + -0.2808385491371155 + ], + [ + 0.05202846974134445, + 0.003932192921638489, + -0.03113674186170101, + -0.2750290036201477, + 0.6558045744895935, + 0.6408755779266357, + -0.28906384110450745 + ], + [ + 0.050134602934122086, + -0.0009881349978968501, + -0.0320042185485363, + -0.29743272066116333, + 0.6405941247940063, + 0.6489906311035156, + -0.282814621925354 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e027/wrist.mp4 b/episodes/c5_p000_e027/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6db4a43f28fc8f84ca00bdadfdfc4a1686877a7b --- /dev/null +++ b/episodes/c5_p000_e027/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a10c965d9c788b5d286aa56fb92cd0ccf4b1e1d3cf82d3d2c2a8c26000687865 +size 6659673 diff --git a/episodes/c5_p000_e028/data.npz b/episodes/c5_p000_e028/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..3b75bc8244879b83230232cce46941605e524787 --- /dev/null +++ b/episodes/c5_p000_e028/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70112cd4969d0b5dabd913fe8a9e72d1ffbf338c0affcddb4a63cd7a76df1f47 +size 186032 diff --git a/episodes/c5_p000_e028/device_events.jsonl b/episodes/c5_p000_e028/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b1e8ff28dc9a0d179fe708b68452b55460a69799 --- /dev/null +++ b/episodes/c5_p000_e028/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 3, "seq": 1, "step": 197, "t": 0.985, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 197, "t": 0.985, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 202, "t": 1.01, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1486, "t": 7.43, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 1677, "t": 8.385, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 6067, "t": 30.335, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 6680, "t": 33.4, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 6680, "t": 33.4, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.520353273598022}, "cause": "task-3-1"} +{"env_id": 3, "seq": 9, "step": 6680, "t": 33.4, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 6680, "t": 33.4, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 6680, "t": 33.4, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 13, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 16, "step": 7099, "t": 35.495, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 18, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.520353273598022}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7604, "t": 38.02, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 22, "step": 7604, "t": 38.02, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.5250000000012918}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 7604, "t": 38.02, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.5250000000012918}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 24, "step": 7604, "t": 38.02, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 7604, "t": 38.02, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 7604, "t": 38.02, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8024, "t": 40.12, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 28, "step": 8024, "t": 40.12, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8024, "t": 40.12, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 8024, "t": 40.12, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 31, "step": 8024, "t": 40.12, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 32, "step": 8024, "t": 40.12, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 33, "step": 8603, "t": 43.015, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 34, "step": 10300, "t": 51.5, "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": 35, "step": 10300, "t": 51.5, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 36, "step": 10300, "t": 51.5, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 37, "step": 10300, "t": 51.5, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p000_e028/env.mp4 b/episodes/c5_p000_e028/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c9999c89332fe9d8bd0a618a74c38f47badab280 --- /dev/null +++ b/episodes/c5_p000_e028/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7eb175d5faef17697b639265669f8b45272ee38a539d9bf9c6368d46ee734938 +size 1243202 diff --git a/episodes/c5_p000_e028/meta.json b/episodes/c5_p000_e028/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5d2f6878e8a0c950321d02fa3cfe8cd1fa7d6af4 --- /dev/null +++ b/episodes/c5_p000_e028/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/28", + "fps": 25, + "frames": 1158, + "kept_ticks": "even", + "video_frames": { + "wrist": 1158, + "env": 1158 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e028/scene_snapshot.json b/episodes/c5_p000_e028/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..1a158368036b91c8578a3d9b41893c739896ef1e --- /dev/null +++ b/episodes/c5_p000_e028/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 28, + "env_id": 3, + "run_id": "c5_p000", + "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_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.055498116830371e-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": 0.20650964066949937, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.08265974094252262, + "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": 0.20650964066949937, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.696537971496582, + 0.778050422668457, + 0.8999999761581421 + ], + "ori": [ + 0.7345619797706604, + 6.028052723650035e-09, + -3.553401128897349e-08, + 0.6785416007041931 + ], + "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": [ + -1.0293347685319532e-07, + 1.3571057166927858e-08, + 1.4901161193847656e-07 + ], + "angular_velocity": [ + -3.663663505903969e-07, + -5.5517575674457476e-06, + 9.19230615181732e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.06161308288574219, + 1.1537246704101562, + 0.8999999761581421 + ], + "ori": [ + -0.0014313519932329655, + 8.654748917535926e-09, + 5.531283209236904e-10, + 0.9999990463256836 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.836575998178887e-14, + -3.8146832359586824e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 4.847193224577495e-08, + -9.646040410871137e-09, + 3.410731608255446e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.130599021911621, + 1.13714599609375, + 0.8999999761581421 + ], + "ori": [ + -0.1103353500366211, + 3.73798556552174e-08, + -8.687753449976299e-08, + 0.9938945174217224 + ], + "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": [ + 1.7950041453218546e-09, + -9.537073353271808e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 4.149427468291833e-07, + 1.1962594470560362e-08, + 4.132794373390425e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.0674886703491211, + 0.44721031188964844, + 0.8999999761581421 + ], + "ori": [ + 0.9999557137489319, + 3.182611507668298e-09, + -3.368693657357369e-10, + 0.009416846558451653 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.4894092060255844e-09, + -5.212502429685628e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 2.401807819296664e-07, + -2.802975984650402e-07, + -6.075850933484617e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.691483497619629, + 0.7704753875732422, + 0.9180000424385071 + ], + "ori": [ + 0.7646040320396423, + 6.202189410942083e-07, + 4.1566042341401044e-07, + 0.6445003747940063 + ], + "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": [ + -9.019451681524515e-06, + 3.8756238609494176e-06, + -7.674098014831543e-07 + ], + "angular_velocity": [ + -4.104202889720909e-05, + -0.00014897942310199142, + 4.6167242544470355e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.05033302307128906, + 1.143096923828125, + 0.9180000424385071 + ], + "ori": [ + -0.08021073788404465, + 9.026278391388587e-09, + 1.3608361104644473e-09, + 0.9967779517173767 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9611011481401874e-08, + -3.2632585522662794e-10, + -5.755573511123657e-06 + ], + "angular_velocity": [ + -1.15717239168589e-06, + 1.3354784869079595e-06, + 1.6379391354348627e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.1352338790893555, + 1.1253023147583008, + 0.9180000424385071 + ], + "ori": [ + -0.062044981867074966, + 4.159436528539118e-08, + -8.72340848445674e-08, + 0.998073399066925 + ], + "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": [ + 2.4349445126858882e-08, + 1.3225958994667053e-08, + -5.792826414108276e-06 + ], + "angular_velocity": [ + -6.524577997879533e-07, + 1.2921768757223617e-06, + 1.0877582923285445e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.0639047622680664, + 0.4554862976074219, + 0.9179999828338623 + ], + "ori": [ + 0.9969057440757751, + 6.737347124641246e-09, + -5.302338568213827e-10, + -0.078606516122818 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1765026641796794e-07, + -8.490101066627176e-08, + -3.162771463394165e-06 + ], + "angular_velocity": [ + 2.1394516807049513e-06, + -4.02470504923258e-06, + -1.2043090080737784e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 5.3799999999999075, + "step": 1076, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.055498116830371e-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": 0.20650964066949937, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 878, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5465379655361176, + 0.328050434589386, + 0.0 + ], + "carrier_2": [ + -0.21161308884620667, + 0.7037246823310852, + 0.0 + ], + "carrier_3": [ + -1.2805990278720856, + 0.687146008014679, + 0.0 + ], + "carrier_4": [ + -0.08251133561134338, + -0.0027896761894226074, + 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": [ + 0.08451647434587628, + -0.31336730631631504, + 2.675898010306634 + ], + "ori": [ + 0.9154300776876916, + 7.148519209578769, + 1.550333096806746 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5931.051488546715, + "color": [ + 0.9487570839593682, + 0.8875403943807963, + 0.9538908115180356 + ], + "intensity": 11870.319933179879, + "width": 2.389875659032854, + "height": 1.2873153961118127 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.5124191499750395, + -0.10662840919554406, + 2.587719775191953 + ], + "ori": [ + -8.20174439266152, + -38.08361309174069, + -11.899496574167951 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5565.596864390578, + "color": [ + 0.842134978943071, + 0.8205291869623718, + 0.9503827795250283 + ], + "intensity": 9681.092267199872, + "radius": 0.498942250173801 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 778.9774354172171, + "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": [ + [ + 1.7981165647506714, + -1.378542423248291, + 2.0554890632629395, + -2.247626543045044, + -1.5703366994857788, + 0.20981381833553314, + 0.018000036478042603, + 0.017999961972236633 + ], + [ + -0.17283587157726288, + -2.1186892986297607, + 2.3028383255004883, + -1.7553316354751587, + -1.5708929300308228, + 4.5601654052734375, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141027331352234, + -1.7193981409072876, + 2.0905001163482666, + -1.9419009685516357, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141027331352234, + -1.7193982601165771, + 2.0905003547668457, + -1.9419015645980835, + -1.5707999467849731, + 2.48490047454834, + 0.01799999549984932, + 0.018000002950429916 + ] + ], + "joint_vel": [ + [ + 0.00012622741633094847, + -0.014357879757881165, + -0.009792721830308437, + 0.022799337282776833, + -6.163762918731663e-06, + 2.319791008176253e-07, + -7.14835869075614e-06, + 7.149534212658182e-06 + ], + [ + -1.2772342188327457e-06, + -1.3623710401589051e-05, + -1.3623841368826106e-05, + -6.811938419559738e-06, + 6.811956609453773e-06, + -4.578842188220078e-13, + 1.0732063024723737e-12, + 2.471667889889645e-13 + ], + [ + 2.6942193843799813e-38, + -1.8821941094939577e-38, + 1.9311479108257595e-38, + -3.5446541941212096e-37, + 3.334919498784294e-37, + -2.5610873310082572e-36, + 2.5990388508034812e-08, + -2.599039206074849e-08 + ], + [ + -2.310216801786273e-38, + 2.1437848634381073e-38, + 2.2025676524583762e-38, + 3.5535310275291373e-37, + -6.1981148508484536e-37, + 3.0020092783451507e-36, + 5.1980745041646514e-08, + -5.1980798332351696e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04974255710840225, + 0.0024437010288238525, + -0.03111298941075802, + -0.28463026881217957, + 0.6415402889251709, + 0.6555456519126892, + -0.27869611978530884 + ], + [ + 0.0499819777905941, + -0.00012002646690234542, + -0.03125122934579849, + -0.2704223692417145, + 0.6536341905593872, + 0.6493726968765259, + -0.2791938781738281 + ], + [ + 0.05420584976673126, + 0.002299433806911111, + -0.03256353735923767, + -0.2768607437610626, + 0.662691056728363, + 0.6334397792816162, + -0.2879977822303772 + ], + [ + 0.04996481165289879, + -0.00040147153777070343, + -0.033919807523489, + -0.2949388921260834, + 0.6453062295913696, + 0.6455666422843933, + -0.282550185918808 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e028/wrist.mp4 b/episodes/c5_p000_e028/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ad0ccec92db46b991606538959c8c4b09582c272 --- /dev/null +++ b/episodes/c5_p000_e028/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08f705499f195b0142dfcce54c32f98afc06714008f875d507e46269ad96f890 +size 6134240 diff --git a/episodes/c5_p000_e029/data.npz b/episodes/c5_p000_e029/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..2b314d50cd213698ea2164eff553330e9447bcff --- /dev/null +++ b/episodes/c5_p000_e029/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73810842f4344d62e99a70f9843d831f489bae2c55077fac362cfc00503d6c69 +size 187714 diff --git a/episodes/c5_p000_e029/device_events.jsonl b/episodes/c5_p000_e029/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a995a649c55061d767a93e9b0d1b1a091fed3249 --- /dev/null +++ b/episodes/c5_p000_e029/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 129, "t": 0.645, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 129, "t": 0.645, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 134, "t": 0.67, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 2143, "t": 10.715, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6938, "t": 34.69, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 7548, "t": 37.74, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7548, "t": 37.74, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.003734620640147}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 7548, "t": 37.74, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 9, "step": 7548, "t": 37.74, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 10, "step": 7548, "t": 37.74, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 11, "step": 7967, "t": 39.835, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 7967, "t": 39.835, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7967, "t": 39.835, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7967, "t": 39.835, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 7967, "t": 39.835, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7967, "t": 39.835, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7967, "t": 39.835, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 18, "step": 7967, "t": 39.835, "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": 7967, "t": 39.835, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.003734620640147}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 8768, "t": 43.84, "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": 8768, "t": 43.84, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.005000000002049}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8768, "t": 43.84, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.005000000002049}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 8768, "t": 43.84, "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": 8768, "t": 43.84, "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": 8768, "t": 43.84, "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": 9188, "t": 45.94, "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": 9188, "t": 45.94, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.7066565050072313e-08}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 9188, "t": 45.94, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.7066565050072313e-08}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 9188, "t": 45.94, "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": 9188, "t": 45.94, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 9188, "t": 45.94, "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": 9768, "t": 48.84, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 11476, "t": 57.38, "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": 11476, "t": 57.38, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 11476, "t": 57.38, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 11476, "t": 57.38, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p000_e029/env.mp4 b/episodes/c5_p000_e029/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c69deac94fa55a286186cbad9b818623e458498e --- /dev/null +++ b/episodes/c5_p000_e029/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72dfc70a840ae0458bec0aea176e5ee53546314a02438725fe3f20578cc6981d +size 1246775 diff --git a/episodes/c5_p000_e029/meta.json b/episodes/c5_p000_e029/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..590582fcc11465e8d3ed69159d227dd98a18903d --- /dev/null +++ b/episodes/c5_p000_e029/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/29", + "fps": 25, + "frames": 1226, + "kept_ticks": "even", + "video_frames": { + "wrist": 1226, + "env": 1226 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e029/scene_snapshot.json b/episodes/c5_p000_e029/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..75926ca1121155a2d72991d1c4799fb3e5e4dcab --- /dev/null +++ b/episodes/c5_p000_e029/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 29, + "env_id": 2, + "run_id": "c5_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 4.373416125774687e-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": 0.2924380731372705, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.024308360113383276, + "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": 0.2924380731372705, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.022775650024414062, + 1.14996337890625, + 0.8999999761581421 + ], + "ori": [ + 0.00036184286000207067, + 3.606277498846566e-10, + -2.8787030537102964e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.38483677250656e-10, + -8.04495581263609e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 9.042771864642418e-09, + 2.571523793903907e-08, + 3.047984531434622e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6626319885253906, + 0.9525671005249023, + 0.8999999761581421 + ], + "ori": [ + 0.5373780727386475, + -1.2218325196045043e-07, + 6.416181008717103e-08, + 0.8433414697647095 + ], + "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": [ + -6.637195237857441e-10, + 9.711109694165998e-11, + 0.0 + ], + "angular_velocity": [ + -1.9225250724730358e-08, + -2.789627018273677e-08, + -4.732765290782481e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2915353775024414, + 0.5496091842651367, + 0.8999999761581421 + ], + "ori": [ + -0.9239643216133118, + -1.2575605445874771e-08, + -5.568034211478334e-08, + 0.38247862458229065 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2812768623859938e-09, + 1.6456711549039937e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.5745808923384175e-07, + 1.3985139446504036e-07, + -7.757403608366076e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.12616443634033203, + 0.4475879669189453, + 0.8999999761581421 + ], + "ori": [ + 0.9999332427978516, + 5.88868331874437e-09, + -5.955222426301532e-11, + 0.01155615784227848 + ], + "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": [ + 3.6520022561603582e-09, + 2.1574910746835485e-09, + 3.3527612686157227e-08 + ], + "angular_velocity": [ + -1.8145438218652998e-07, + 3.677974405036366e-07, + -1.3069320736747159e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.008496284484863281, + 1.157576560974121, + 0.9179999828338623 + ], + "ori": [ + -0.06822282075881958, + 1.7518975159447336e-09, + -1.871000243625076e-09, + 0.9976701140403748 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.742072252066464e-08, + -1.2676051319715498e-08, + 9.313225746154785e-08 + ], + "angular_velocity": [ + 1.9642250492779567e-07, + 1.7093904034481966e-06, + 2.1186278331697395e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.6642332077026367, + 0.9530153274536133, + 0.9180000424385071 + ], + "ori": [ + 0.4501361846923828, + -1.164700904610072e-07, + 7.598684703680192e-08, + 0.8929599523544312 + ], + "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": [ + 2.0141712298027414e-08, + 8.32511481974052e-09, + -5.1781535148620605e-06 + ], + "angular_velocity": [ + 7.128278411983047e-08, + 1.478141030020197e-06, + -1.454186531191226e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -1.2758331298828125, + 0.5497770309448242, + 0.9180000424385071 + ], + "ori": [ + -0.8953701853752136, + -8.35055580239441e-09, + -5.5961592693165585e-08, + 0.44532278180122375 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.409802230512014e-08, + 1.911497449214039e-08, + -5.841255187988281e-06 + ], + "angular_velocity": [ + -9.24598793972109e-07, + -2.0097299966437276e-06, + 5.4478370259403164e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.12994098663330078, + 0.4541501998901367, + 0.9179999828338623 + ], + "ori": [ + 0.9998832941055298, + 6.953145614829737e-09, + 3.887941635305481e-10, + 0.015277368016541004 + ], + "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": [ + -3.931220504682642e-08, + -4.3174985364657914e-08, + -1.1920928955078125e-06 + ], + "angular_velocity": [ + 2.595139676486724e-06, + -2.6260927370458376e-06, + -8.358075831438327e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 8.479999999999926, + "step": 1696, + "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": 4.373416125774687e-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": 0.2924380731372705, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1566, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.12722435593605042, + 0.699963390827179, + 0.0 + ], + "carrier_2": [ + 1.5126319825649261, + 0.5025671124458313, + 0.0 + ], + "carrier_3": [ + -1.4415353834629059, + 0.09960919618606567, + 0.0 + ], + "carrier_4": [ + -0.023835569620132446, + -0.0024120211601257324, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.5355582068015055, + 0.2651494717302282, + 2.863299667709068 + ], + "ori": [ + -2.6766896437356777, + -9.989177673838391, + -4.921884753284967 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7007.209923135399, + "color": [ + 0.8489047411080973, + 0.8378476269862377, + 0.9699512296876946 + ], + "intensity": 6047.781078516034, + "width": 1.834946228426167, + "height": 1.3840491013953162 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.7172232971677083, + 0.49115271871297383, + 1.6678431980528023 + ], + "ori": [ + 27.602672869186748, + 15.109403915368688, + 17.616662012785497 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4539.6811601627105, + "color": [ + 0.9675718503465398, + 0.7947050212327638, + 0.7703875953335118 + ], + "intensity": 7553.7161132662595, + "radius": 0.21695499200006757 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1001.1842576494028, + "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": [ + [ + 0.9141073822975159, + -1.7193961143493652, + 2.090498685836792, + -1.9419010877609253, + -1.5707999467849731, + 2.484902858734131, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + -0.17283587157726288, + -2.1186892986297607, + 2.3028383255004883, + -1.7553316354751587, + -1.5708929300308228, + 4.5601654052734375, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141041040420532, + -1.7193957567214966, + 2.090498685836792, + -1.9419009685516357, + -1.5707999467849731, + 2.484900951385498, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.8522434830665588, + -1.4885518550872803, + 2.083587408065796, + -2.165600061416626, + -1.5707290172576904, + 2.5802721977233887, + 0.007898049429059029, + 0.0069519104436039925 + ] + ], + "joint_vel": [ + [ + 0.0, + -2.4619325839217923e-38, + -1.6971232200121148e-38, + -3.6140942503262387e-37, + 5.986259150155936e-37, + -2.7026501340399697e-36, + 5.1980777016069624e-08, + -5.198078412149698e-08 + ], + [ + -1.2772343325195834e-06, + -1.3623710401589051e-05, + -1.3623838640342001e-05, + -6.81194478602265e-06, + 6.811957064201124e-06, + 1.2032150449592383e-13, + 1.0474414304656454e-12, + 2.823656293591409e-13 + ], + [ + 5.108946879772702e-06, + -3.405958068469772e-06, + 6.8119470597594045e-06, + 3.405975348869106e-06, + 1.0046790602149386e-13, + 1.4343771396335692e-12, + -2.599053772200932e-08, + 2.5991321095375497e-08 + ], + [ + -0.001897545880638063, + -0.0007516162004321814, + -0.0015137111768126488, + -0.001995679223909974, + -1.1440201888035517e-06, + 0.0002650516980793327, + -0.007835056632757187, + 0.0002827503194566816 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05277181789278984, + 0.0022264081053435802, + -0.03165789321064949, + -0.29070520401000977, + 0.6380126476287842, + 0.6563586592674255, + -0.2786101996898651 + ], + [ + 0.051206592470407486, + 0.00034104628139175475, + -0.030105574056506157, + -0.2717760503292084, + 0.6568242907524109, + 0.6448047757148743, + -0.2809741497039795 + ], + [ + 0.05176961049437523, + 0.0030097761191427708, + -0.03226999193429947, + -0.27461662888526917, + 0.6560266613960266, + 0.6417682766914368, + -0.28696370124816895 + ], + [ + 0.050179507583379745, + -0.0015918203862383962, + -0.03131411224603653, + -0.2941972017288208, + 0.6446767449378967, + 0.6479514837265015, + -0.2792826294898987 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e029/wrist.mp4 b/episodes/c5_p000_e029/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..75cfbc56fd11d0a6568813b082cd2e188a0c6096 --- /dev/null +++ b/episodes/c5_p000_e029/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31bdb28768e1a55a4d04e94d3d2d615ccd58b8575e97ca865950ebdbb3f23af4 +size 6582682 diff --git a/episodes/c5_p000_e030/data.npz b/episodes/c5_p000_e030/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..655c345e6bd1e92754ec5f7b939acbf7332a7ba6 --- /dev/null +++ b/episodes/c5_p000_e030/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:191552f8c98698fb283e4c21e35423fab9e4938182f789ab04529eb263e7fc2c +size 207073 diff --git a/episodes/c5_p000_e030/device_events.jsonl b/episodes/c5_p000_e030/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..40df631f4495594335ffdf2036965d460d2c2fb6 --- /dev/null +++ b/episodes/c5_p000_e030/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 174, "t": 0.87, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 174, "t": 0.87, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 179, "t": 0.895, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6215, "t": 31.075, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6828, "t": 34.14, "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": 6828, "t": 34.14, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.5303784903740247}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6828, "t": 34.14, "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": 6828, "t": 34.14, "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": 6828, "t": 34.14, "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": 7247, "t": 36.235, "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": 7247, "t": 36.235, "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": 7247, "t": 36.235, "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": 7247, "t": 36.235, "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": 7247, "t": 36.235, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7247, "t": 36.235, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7247, "t": 36.235, "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": 7247, "t": 36.235, "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": 7247, "t": 36.235, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.5303784903740247}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7954, "t": 39.77, "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": 7954, "t": 39.77, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.5350000000018085}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7954, "t": 39.77, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.5350000000018085}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7954, "t": 39.77, "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": 7954, "t": 39.77, "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": 7954, "t": 39.77, "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": 8374, "t": 41.87, "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": 8374, "t": 41.87, "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": 8374, "t": 41.87, "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": 8374, "t": 41.87, "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": 8374, "t": 41.87, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8374, "t": 41.87, "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": 8955, "t": 44.775, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 11204, "t": 56.02, "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": 11204, "t": 56.02, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11204, "t": 56.02, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 11204, "t": 56.02, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p000_e030/env.mp4 b/episodes/c5_p000_e030/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8d1a27e014d5f821662fb03f73feae91e81565a7 --- /dev/null +++ b/episodes/c5_p000_e030/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ca9eb40056c89b0fb242a3c1a11ff49325cf05d95f1ca37b60a333040bad859 +size 1349926 diff --git a/episodes/c5_p000_e030/meta.json b/episodes/c5_p000_e030/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cf18aefe62f1b00366def88d5fda539f81113b2b --- /dev/null +++ b/episodes/c5_p000_e030/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/30", + "fps": 25, + "frames": 1300, + "kept_ticks": "even", + "video_frames": { + "wrist": 1300, + "env": 1300 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e030/scene_snapshot.json b/episodes/c5_p000_e030/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..8cc70e13f18ebe8540bda12a3836849ab7fcda6e --- /dev/null +++ b/episodes/c5_p000_e030/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 30, + "env_id": 0, + "run_id": "c5_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5240573883056641, + 0.07274436950683594, + 0.8999999761581421 + ], + "ori": [ + -0.6924200057983398, + 0.0, + 0.0, + 0.7214946746826172 + ], + "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": [ + 4.373416559455556e-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": 0.19978446411626388, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.18286472361887066, + "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": 0.19978446411626388, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5711822509765625, + 0.5327787399291992, + 0.8999999761581421 + ], + "ori": [ + 0.9426161646842957, + -4.712982004662081e-08, + 1.1182928005837312e-07, + 0.33387839794158936 + ], + "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": [ + -5.690822035830934e-09, + 2.0951800294710665e-09, + 0.0 + ], + "angular_velocity": [ + -1.0340954759158194e-07, + -2.3575128693664738e-07, + -4.694802058224923e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3882198333740234, + 0.7205448150634766, + 0.8999999761581421 + ], + "ori": [ + -0.7793306708335876, + 1.426477922450431e-07, + 1.3363019135681498e-08, + 0.6266128420829773 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.994321376576409e-08, + 6.248892958637953e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 3.432449489082501e-07, + -1.364657919111778e-06, + -1.520931618870236e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.032876014709472656, + 0.4474039077758789, + 0.8999999761581421 + ], + "ori": [ + 0.9999494552612305, + 1.5073118309061329e-09, + -3.5525496433486126e-10, + 0.01006040908396244 + ], + "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": [ + -4.760342120491146e-10, + -4.4064751847372463e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 5.2365901836992634e-08, + -3.921088165270703e-08, + -5.309430672895132e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6155328750610352, + 1.1527290344238281, + 0.8999999761581421 + ], + "ori": [ + -0.01002690102905035, + -3.667725290146251e-10, + -4.044009571657625e-10, + 0.9999498128890991 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2470655619267745e-09, + -7.014401059990405e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 1.4541647885835118e-07, + 1.1249760945020171e-07, + 7.63390630709182e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.5673141479492188, + 0.5435876846313477, + 0.9179999828338623 + ], + "ori": [ + 0.9068942070007324, + 6.362397897419214e-08, + 1.4889690191921545e-07, + 0.4213584065437317 + ], + "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": [ + -7.288992946996586e-07, + 4.62250646648954e-08, + 7.078051567077637e-08 + ], + "angular_velocity": [ + -4.8361794142692816e-06, + -8.537855137547012e-06, + 4.163608537055552e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -1.3940401077270508, + 0.7279624938964844, + 0.9180000424385071 + ], + "ori": [ + -0.7639085650444031, + 4.104274751171033e-07, + -2.9219680186542973e-07, + 0.6453244686126709 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.0172768674674444e-06, + 3.0552391763194464e-06, + -5.055218935012817e-06 + ], + "angular_velocity": [ + 4.869864278589375e-05, + -3.4214870538562536e-05, + -1.555677408759948e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -0.025641441345214844, + 0.45683860778808594, + 0.9180000424385071 + ], + "ori": [ + 0.9939992427825928, + 6.151328335590733e-10, + -2.1116514092867078e-10, + 0.10938737541437149 + ], + "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": [ + -8.98035956709009e-09, + -2.8515672045870133e-09, + -5.602836608886719e-06 + ], + "angular_velocity": [ + 1.1839191529361415e-06, + -1.7271896695092437e-06, + -3.0085459457041e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.6275520324707031, + 1.1635560989379883, + 0.9179999828338623 + ], + "ori": [ + -0.017996717244386673, + -6.043283651280262e-10, + -8.846808285944974e-10, + 0.9998380541801453 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.387906381633002e-08, + -4.8805986807565205e-08, + -1.4528632164001465e-06 + ], + "angular_velocity": [ + 1.242299504156108e-06, + 2.3843538201617775e-06, + 1.604898045570735e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 4.259999999999931, + "step": 852, + "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": 4.373416559455556e-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": 0.19978446411626388, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 677, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.421182245016098, + 0.08277875185012817, + 0.0 + ], + "carrier_2": [ + -1.538219839334488, + 0.2705448269844055, + 0.0 + ], + "carrier_3": [ + -0.18287602066993713, + -0.0025960803031921387, + 0.0 + ], + "carrier_4": [ + 0.4655328691005707, + 0.7027290463447571, + 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": [ + 0.11439328037090257, + 0.5893157239110447, + 2.913885215321276 + ], + "ori": [ + -11.48471329240466, + -7.571365878990131, + -19.859959101125952 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6037.15982177408, + "color": [ + 0.9891107661884574, + 0.8375968736972907, + 0.7998543515839938 + ], + "intensity": 5715.006612161515, + "width": 2.7241508038378477, + "height": 1.487564572584751 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.770868088452947, + -1.0399802010789807, + 1.7659253141467157 + ], + "ori": [ + -10.745400595652946, + -17.80872707013824, + -17.34580315245936 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5453.553399393413, + "color": [ + 0.7549765362130525, + 0.8836378958503215, + 0.9705134962489375 + ], + "intensity": 10615.566486562699, + "radius": 0.3873217037456682 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1001.1842576494028, + "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": [ + [ + 0.9141073822975159, + -1.7193961143493652, + 2.090498685836792, + -1.9419010877609253, + -1.5707999467849731, + 2.484902858734131, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + -0.17228814959526062, + -2.1059021949768066, + 2.318296432495117, + -1.7834609746932983, + -1.5708692073822021, + 4.560098648071289, + 0.018000014126300812, + 0.017999984323978424 + ], + [ + 0.8992553353309631, + -1.6788877248764038, + 2.0731518268585205, + -1.9650321006774902, + -1.5708006620407104, + 2.4665462970733643, + 0.018000930547714233, + 0.017999067902565002 + ], + [ + 0.8522577285766602, + -1.4890413284301758, + 2.08313250541687, + -2.1646523475646973, + -1.5707294940948486, + 2.58028507232666, + 0.007898161187767982, + 0.006952214986085892 + ] + ], + "joint_vel": [ + [ + 0.0, + -2.4619325839217923e-38, + -1.6971232200121148e-38, + -3.6140942503262387e-37, + 5.986259150155936e-37, + -2.7026501340399697e-36, + 5.1980777016069624e-08, + -5.198078412149698e-08 + ], + [ + 0.00028744409792125225, + 0.009025628678500652, + 0.01072227954864502, + -0.018947942182421684, + 1.3229839169071056e-05, + -4.0787417674437165e-05, + 1.340815401817963e-06, + -1.34078311475605e-06 + ], + [ + -0.008905752561986446, + 0.023941855877637863, + -0.009714529849588871, + -0.013048616237938404, + -2.4503407985321246e-05, + -0.010350530035793781, + 3.240692603867501e-05, + -3.2403968361904845e-05 + ], + [ + -0.0018976845312863588, + -0.0007695301901549101, + -0.0015355244977399707, + -0.0020115631632506847, + -1.578422416059766e-05, + 0.0002741978969424963, + -0.007812551222741604, + 0.00030754110775887966 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05094645917415619, + 0.0009484345791861415, + -0.029358994215726852, + -0.29009249806404114, + 0.6328778862953186, + 0.6613938212394714, + -0.2790522277355194 + ], + [ + 0.05079852044582367, + 0.0002883693960029632, + -0.03346306085586548, + -0.2735881805419922, + 0.6571299433708191, + 0.6458384394645691, + -0.2760840952396393 + ], + [ + 0.05375899374485016, + 0.002673536539077759, + -0.029848836362361908, + -0.27551978826522827, + 0.6578405499458313, + 0.6388604044914246, + -0.2884303629398346 + ], + [ + 0.047203436493873596, + 0.0022216879297047853, + -0.030182424932718277, + -0.2907630205154419, + 0.645842969417572, + 0.6473620533943176, + -0.28154242038726807 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e030/wrist.mp4 b/episodes/c5_p000_e030/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..659bb1e7e8773741a56d2fdaa93b2b1d3588b240 --- /dev/null +++ b/episodes/c5_p000_e030/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8296a8e3c01ae27f28c6b7458cf5f46b1a0f42096c46da7a851843c6a938bc6e +size 9739795 diff --git a/episodes/c5_p000_e031/data.npz b/episodes/c5_p000_e031/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..c6215aa4616c8a8279aba58f6a035c14a2b17285 --- /dev/null +++ b/episodes/c5_p000_e031/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a29bd305b1084d6dd0a1f1212a283cd119ca2f98008f5c7a81f7178a5c34d873 +size 189883 diff --git a/episodes/c5_p000_e031/device_events.jsonl b/episodes/c5_p000_e031/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e5dc706207d999fe7222bafef5c5f56975353702 --- /dev/null +++ b/episodes/c5_p000_e031/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 78, "t": 0.39, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 78, "t": 0.39, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 83, "t": 0.415, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7740, "t": 38.7, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 7740, "t": 38.7, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.1760675176108935}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7740, "t": 38.7, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 7740, "t": 38.7, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 7740, "t": 38.7, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 8159, "t": 40.795, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 8159, "t": 40.795, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 8159, "t": 40.795, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 8159, "t": 40.795, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 8159, "t": 40.795, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 8159, "t": 40.795, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 8159, "t": 40.795, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 8159, "t": 40.795, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 18, "step": 8159, "t": 40.795, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.1760675176108935}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8595, "t": 42.975, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 8595, "t": 42.975, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.1800000000011153}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8595, "t": 42.975, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.1800000000011153}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8595, "t": 42.975, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 23, "step": 8595, "t": 42.975, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 24, "step": 8595, "t": 42.975, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 25, "step": 9015, "t": 45.075, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 9015, "t": 45.075, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.1719020420741799e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 9015, "t": 45.075, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.1719020420741799e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 9015, "t": 45.075, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 9015, "t": 45.075, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 9015, "t": 45.075, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 9595, "t": 47.975, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 11300, "t": 56.5, "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": 11300, "t": 56.5, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11300, "t": 56.5, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11300, "t": 56.5, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p000_e031/env.mp4 b/episodes/c5_p000_e031/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4bcb9fd87f585321e3eec7b3e943a5f6e2bb0a3f --- /dev/null +++ b/episodes/c5_p000_e031/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59fcd08b89ae7d0ed9802662490e5d69758045a51c4c9b7186ffa938caa481e2 +size 1252793 diff --git a/episodes/c5_p000_e031/meta.json b/episodes/c5_p000_e031/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..af7a8fbecf7a0af943e75d1abfa66ec3f8bca364 --- /dev/null +++ b/episodes/c5_p000_e031/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/31", + "fps": 25, + "frames": 1221, + "kept_ticks": "even", + "video_frames": { + "wrist": 1221, + "env": 1221 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e031/scene_snapshot.json b/episodes/c5_p000_e031/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..83d6ab65eb0f0c0e47fc71957bb6201594b4a37f --- /dev/null +++ b/episodes/c5_p000_e031/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 31, + "env_id": 1, + "run_id": "c5_p000", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5098752975463867, + 0.08571529388427734, + 0.8999999761581421 + ], + "ori": [ + 0.7111824154853821, + 0.0, + 0.0, + -0.7030075192451477 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.0277486247343166e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.25501291556043454, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.012093884757462203, + "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": 0.25501291556043454, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.050891876220703125, + 1.1500024795532227, + 0.8999999761581421 + ], + "ori": [ + 1.6886828234419227e-05, + 1.8319144812206645e-10, + 2.6807818187535304e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0543366180115754e-09, + -4.1590397792390377e-11, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 4.500208206081879e-09, + -1.0932210159353417e-07, + -2.1019426199586633e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4944267272949219, + 0.4848003387451172, + 0.8999999761581421 + ], + "ori": [ + 0.9774552583694458, + -3.5245957263896344e-09, + 1.877561217611401e-08, + 0.21114307641983032 + ], + "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": [ + 3.91862098325646e-11, + 1.253404879886233e-10, + 0.0 + ], + "angular_velocity": [ + 1.813626759883391e-08, + 6.711357247723981e-09, + 4.178219992212462e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2984695434570312, + 1.0420989990234375, + 0.8999999761581421 + ], + "ori": [ + -0.38027119636535645, + 2.8316577527220943e-08, + -1.1035848501705914e-07, + 0.9248750805854797 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.5771668960293823e-10, + 3.9221753622697975e-10, + 0.0 + ], + "angular_velocity": [ + -2.0100545228274314e-08, + 2.3458252229602294e-08, + 1.6780690614837113e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.13837528228759766, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -8.518106220378741e-10, + 3.628924938325895e-10, + -2.5103825464611873e-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": [ + 1.7487176151576023e-09, + 1.1307657032944007e-09, + 0.0 + ], + "angular_velocity": [ + -9.813265933189541e-08, + 1.1768595697958517e-07, + -7.339825636165642e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -0.05213642120361328, + 1.140085220336914, + 0.9179999828338623 + ], + "ori": [ + 0.07863766700029373, + -1.8415651226177943e-09, + 2.9539635182374013e-09, + 0.9969033002853394 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5756164373215142e-08, + 1.3514103613943007e-08, + 1.5273690223693848e-07 + ], + "angular_velocity": [ + -9.85925794338982e-07, + 2.020365400312585e-06, + -4.327208813492689e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.4939556121826172, + 0.4762382507324219, + 0.9180000424385071 + ], + "ori": [ + 0.9763553142547607, + -2.1086883350562857e-09, + 1.8608345087045564e-08, + 0.2161722630262375 + ], + "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": [ + -1.9495708158956404e-08, + -1.6142580605560397e-08, + -5.248934030532837e-06 + ], + "angular_velocity": [ + 6.368733806993987e-07, + -9.725511063152226e-07, + 3.780291280008896e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.2898492813110352, + 1.0422897338867188, + 0.9179999828338623 + ], + "ori": [ + -0.3906542956829071, + 2.675898791437703e-08, + -1.1130256893920887e-07, + 0.920537531375885 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.07163883006956e-10, + 1.1227690777104726e-08, + -6.254762411117554e-06 + ], + "angular_velocity": [ + -1.602338784323365e-06, + 6.02779550717969e-07, + 2.191302250764693e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.12511634826660156, + 0.45955848693847656, + 0.9179999828338623 + ], + "ori": [ + 0.9959760308265686, + 5.012266157677914e-10, + 2.237411145245005e-09, + -0.08962003141641617 + ], + "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": [ + -3.66212660196652e-08, + -1.881387845514837e-08, + 1.6763806343078613e-07 + ], + "angular_velocity": [ + 1.2900537740279105e-06, + -2.2088090645411285e-06, + 6.059241997036224e-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": 7.8199999999998555, + "step": 1564, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 3.0277486247343166e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.25501291556043454, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1485, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.2008918821811676, + 0.7000024914741516, + 0.0 + ], + "carrier_2": [ + 1.3444267213344574, + 0.03480035066604614, + 0.0 + ], + "carrier_3": [ + -1.4484695494174957, + 0.5920990109443665, + 0.0 + ], + "carrier_4": [ + -0.011624723672866821, + 1.7285346984863281e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.7526206772533474, + -0.02900625357720127, + 3.092452584774487 + ], + "ori": [ + -8.469126703682413, + 14.788749218717694, + -13.608142026981128 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4620.0064928836955, + "color": [ + 0.9170060627656228, + 0.9432448676444617, + 0.9049617735780043 + ], + "intensity": 11360.392153359133, + "width": 1.453709855141263, + "height": 1.8600017675561071 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.2164234497862907, + 0.9329828250833663, + 2.7663104947496278 + ], + "ori": [ + -33.550208500200185, + 5.746101022942568, + -19.891983134598654 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5016.569656641315, + "color": [ + 0.9510941580352834, + 0.8899869048940066, + 0.888377316784273 + ], + "intensity": 4069.258827628851, + "radius": 0.10063048135745725 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1001.1842576494028, + "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": [ + [ + 2.509813070297241, + -2.1541948318481445, + 2.5758702754974365, + -1.9928447008132935, + -1.5709160566329956, + 4.068498611450195, + 0.008068624883890152, + 0.006068875547498465 + ], + [ + 0.914114773273468, + -1.719393253326416, + 2.0904972553253174, + -1.941901683807373, + -1.5707999467849731, + 2.4849066734313965, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 2.2405457496643066, + -2.257052183151245, + 2.278007984161377, + -1.5908606052398682, + -1.5704265832901, + 4.129039287567139, + 0.007031590212136507, + 0.008135918527841568 + ], + [ + -0.09408435970544815, + -2.2254040241241455, + 2.418992042541504, + -1.7652628421783447, + -1.5712496042251587, + 4.699817657470703, + 0.018000001087784767, + 0.01799999736249447 + ] + ], + "joint_vel": [ + [ + -0.00026051898021250963, + 0.00010309071512892842, + 0.0008056735387071967, + 0.0007796447607688606, + 0.0004612293269019574, + -0.0014187480555847287, + -0.007238984573632479, + -4.1819261241471395e-05 + ], + [ + -2.8316982543776533e-38, + 1.6450285483023754e-38, + -1.5566598645451238e-38, + 5.016426536606096e-37, + -4.242538047842181e-37, + 2.91983538757666e-37, + 5.1980798332351696e-08, + -5.19807805687833e-08 + ], + [ + -0.06389708071947098, + -0.0006600474007427692, + -0.0003818320110440254, + -0.009228076785802841, + -0.008704249747097492, + 0.03050682507455349, + -0.006772280670702457, + 0.0003425558970775455 + ], + [ + 4.563587935990654e-05, + -0.0066923354752361774, + -0.020990796387195587, + 0.02682311087846756, + 3.6331604746919766e-07, + -4.99195387249074e-08, + -3.4428617823323293e-07, + 3.4430388495820807e-07 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05336546525359154, + 0.0035424556117504835, + -0.031161271035671234, + -0.2865201234817505, + 0.638958752155304, + 0.6576277613639832, + -0.27778345346450806 + ], + [ + 0.05098159611225128, + -0.0007943249656818807, + -0.032781388610601425, + -0.26697060465812683, + 0.655841052532196, + 0.6498535871505737, + -0.2762056291103363 + ], + [ + 0.052995674312114716, + 0.0008992878720164299, + -0.03292110189795494, + -0.2799379229545593, + 0.6514280438423157, + 0.642629861831665, + -0.2903500199317932 + ], + [ + 0.04713950678706169, + -0.0008430340094491839, + -0.03329293057322502, + -0.28733623027801514, + 0.6428072452545166, + 0.6507909297943115, + -0.28409138321876526 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e031/wrist.mp4 b/episodes/c5_p000_e031/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9fcf6b888cf9df77b3ba00c2b4be60f0b03376a6 --- /dev/null +++ b/episodes/c5_p000_e031/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4a68c0ab3ca0e77d6a23eae9ed0577f2ada46ce717e56f95fdddc38f614b969 +size 6632334 diff --git a/episodes/c5_p000_e032/data.npz b/episodes/c5_p000_e032/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..8ddc8a13648ccb12b433d06912a0b967156b27ea --- /dev/null +++ b/episodes/c5_p000_e032/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8742143d21cc843038f75f8d8c1281dfab0055987f5463b847709d801e62a1bc +size 192783 diff --git a/episodes/c5_p000_e032/device_events.jsonl b/episodes/c5_p000_e032/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8e6afa857a091ddef66e2b4746c6af5c0451a131 --- /dev/null +++ b/episodes/c5_p000_e032/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 100, "t": 0.5, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 100, "t": 0.5, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 105, "t": 0.525, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 5854, "t": 29.27, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6464, "t": 32.32, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 6464, "t": 32.32, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.9346810229488045}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6464, "t": 32.32, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 6464, "t": 32.32, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6464, "t": 32.32, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 6883, "t": 34.415, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 6883, "t": 34.415, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 6883, "t": 34.415, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 6883, "t": 34.415, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 6883, "t": 34.415, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 6883, "t": 34.415, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 6883, "t": 34.415, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 6883, "t": 34.415, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 6883, "t": 34.415, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.9346810229488045}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7470, "t": 37.35, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7470, "t": 37.35, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.9350000000015015}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7470, "t": 37.35, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.9350000000015015}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7470, "t": 37.35, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 7470, "t": 37.35, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7470, "t": 37.35, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 7890, "t": 39.45, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 7890, "t": 39.45, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.6955112869254663e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 7890, "t": 39.45, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.6955112869254663e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 7890, "t": 39.45, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 7890, "t": 39.45, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 7890, "t": 39.45, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8475, "t": 42.375, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 10188, "t": 50.94, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 10188, "t": 50.94, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10188, "t": 50.94, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 10188, "t": 50.94, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p000_e032/env.mp4 b/episodes/c5_p000_e032/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8e172611a5fa7a91fa3b8da258695bb83a4aa868 --- /dev/null +++ b/episodes/c5_p000_e032/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e558e281f76636750727b8106e39e819c277f024f0f0099c4381d9c484dafc03 +size 1223734 diff --git a/episodes/c5_p000_e032/meta.json b/episodes/c5_p000_e032/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..23188510b864e8fd43cf5ee91f1a7cd38cdb9f7e --- /dev/null +++ b/episodes/c5_p000_e032/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/32", + "fps": 25, + "frames": 1230, + "kept_ticks": "even", + "video_frames": { + "wrist": 1230, + "env": 1230 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e032/scene_snapshot.json b/episodes/c5_p000_e032/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..b2cf89f4b22e5f58804b98d344beb5e3d1bbb5e0 --- /dev/null +++ b/episodes/c5_p000_e032/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 32, + "env_id": 3, + "run_id": "c5_p000", + "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_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.027748407893882e-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": 0.2770173160298066, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.05002604576064468, + "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": 0.2770173160298066, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6938104629516602, + 0.8514719009399414, + 0.8999999761581421 + ], + "ori": [ + 0.6602404117584229, + 1.4563288353031112e-08, + -2.422220646280948e-08, + 0.7510542869567871 + ], + "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": [ + 4.4954825972887136e-10, + 2.0198276384775227e-10, + 0.0 + ], + "angular_velocity": [ + -1.7173283239912962e-08, + 8.310209409501113e-08, + 8.045374144671769e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3968677520751953, + 0.7758970260620117, + 0.8999999761581421 + ], + "ori": [ + -0.7248591780662537, + -1.5637958483694092e-07, + -6.89789558805387e-08, + 0.6888971328735352 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.201039847222091e-10, + 1.5290322341598994e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.7865411905404471e-07, + 1.5288756571862905e-07, + -2.738666005086543e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.10759449005126953, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + -9.657293048803695e-06, + -7.402717550064608e-09, + -4.355659388721733e-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": [ + 1.5812101628043251e-10, + -9.135437961660386e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 3.567175355101426e-08, + 2.1574404485136256e-08, + 1.4907173273570606e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.10063552856445312, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.4860727759469228e-08, + 1.8074894470032632e-08, + -5.34896862518508e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7201109869802167e-08, + -1.4320191610295296e-07, + 2.4586915969848633e-07 + ], + "angular_velocity": [ + 8.978043297247496e-06, + -8.046406492212554e-07, + -3.6623475807573413e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.6946344375610352, + 0.8474416732788086, + 0.9179999828338623 + ], + "ori": [ + 0.6419357061386108, + 1.3872058168828971e-08, + -2.180521008199321e-08, + 0.7667584419250488 + ], + "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": [ + 1.1271978905824653e-08, + -2.8890610792586813e-08, + 5.960464477539063e-08 + ], + "angular_velocity": [ + 1.1150652881042333e-06, + 8.839400607030257e-07, + 5.048519113870498e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.3955259323120117, + 0.7906608581542969, + 0.9180000424385071 + ], + "ori": [ + -0.6674415469169617, + -1.590585299027225e-07, + -5.408076475532653e-08, + 0.7446622252464294 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.6608429237739983e-08, + 5.0384556971039274e-08, + -4.772096872329712e-06 + ], + "angular_velocity": [ + 9.025151257446851e-07, + 9.29118505155202e-06, + -9.656048405304318e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.10575580596923828, + 1.156005859375, + 0.9180000424385071 + ], + "ori": [ + 0.03872977942228317, + -7.706776550264749e-09, + -4.741171899524943e-09, + 0.9992498159408569 + ], + "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": [ + 1.586842657275156e-08, + -2.051805303437959e-08, + -5.0477683544158936e-06 + ], + "angular_velocity": [ + 3.8574836480620434e-07, + 1.204001478072314e-06, + 1.3500073237082688e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.11176109313964844, + 0.43914031982421875, + 0.9179999828338623 + ], + "ori": [ + 0.9960065484046936, + 1.4888260579937196e-07, + 4.230735726196144e-07, + 0.08928098529577255 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.089695372997085e-06, + -4.2671081246226095e-06, + -5.763024091720581e-06 + ], + "angular_velocity": [ + -7.785297930240631e-05, + -0.00015223887749016285, + 3.660156835394446e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 1.8999999999999815, + "step": 380, + "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": 3.027748407893882e-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": 0.2770173160298066, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 279, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5438104569911957, + 0.40147191286087036, + 0.0 + ], + "carrier_2": [ + -1.5468677580356598, + 0.3258970379829407, + 0.0 + ], + "carrier_3": [ + -0.042405515909194946, + 0.699998676776886, + 0.0 + ], + "carrier_4": [ + -0.04936447739601135, + 1.7285346984863281e-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": [ + -0.21681946546186326, + -0.018335128201856454, + 3.090739007141058 + ], + "ori": [ + 9.914282141997756, + 3.347889056424112, + 10.092477123010397 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6974.798307837895, + "color": [ + 0.8241702779057495, + 0.9733224006145232, + 0.8216760334952115 + ], + "intensity": 12502.581747720871, + "width": 2.2536724839956683, + "height": 1.588110917088401 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.2477813709665293, + 0.7761055326392998, + 2.2566924321139257 + ], + "ori": [ + 9.825452437940363, + -11.556475494122466, + 32.50106414228682 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4420.886301388977, + "color": [ + 0.8980509699601522, + 0.9887361975196378, + 0.782004923462554 + ], + "intensity": 3583.1798356783697, + "radius": 0.2599926230475156 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1001.1842576494028, + "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": [ + [ + -0.10534454137086868, + -2.258065938949585, + 2.438600540161133, + -1.7513136863708496, + -1.5708198547363281, + 4.545848846435547, + 0.007279254496097565, + 0.006561636924743652 + ], + [ + 2.723684072494507, + -1.5806841850280762, + 2.44632887840271, + -2.4364099502563477, + -1.570801019668579, + 4.2948737144470215, + 0.00782457459717989, + 0.0071339840069413185 + ], + [ + -0.126496821641922, + -2.239938974380493, + 2.4319052696228027, + -1.7610697746276855, + -1.570031762123108, + 4.501734256744385, + 0.006923995446413755, + 0.008453918620944023 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -6.895102706039324e-05, + -5.091716593597084e-05, + -0.00015101591998245567, + 2.1620573534164578e-05, + 0.00012437862460501492, + -0.0003834259696304798, + -0.009257828816771507, + 0.0005368688725866377 + ], + [ + -0.009457784704864025, + -0.021062158048152924, + 0.02024812437593937, + 0.00021599698811769485, + -0.0011066887527704239, + -0.006714044138789177, + -0.008422293700277805, + 0.00040746803279034793 + ], + [ + 0.03192059323191643, + 0.014406716451048851, + -0.01862981915473938, + -0.011700855568051338, + -0.015150048770010471, + 0.07111156731843948, + -0.006111383903771639, + 0.0007362302858382463 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.0522308275103569, + 0.0023081086110323668, + -0.03268519416451454, + -0.2912827730178833, + 0.6396803855895996, + 0.6533195376396179, + -0.2813129425048828 + ], + [ + 0.04782077297568321, + -0.0014433094765990973, + -0.03489372134208679, + -0.26431718468666077, + 0.6538832187652588, + 0.6500832438468933, + -0.28278079628944397 + ], + [ + 0.05163150280714035, + 0.0022908179089426994, + -0.03184682875871658, + -0.27745211124420166, + 0.6588654518127441, + 0.640275776386261, + -0.28100448846817017 + ], + [ + 0.04658370092511177, + -0.0025411255192011595, + -0.03306368738412857, + -0.2952677607536316, + 0.6380928158760071, + 0.6503391265869141, + -0.2875996232032776 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e032/wrist.mp4 b/episodes/c5_p000_e032/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..68161afbe5f88ea58da5ee36f91d4d92c9cd0f21 --- /dev/null +++ b/episodes/c5_p000_e032/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea2e35231051c5fe294d60f46047f55855eb78e2c383a3b82fbcf7d0f65ddfbd +size 6891793 diff --git a/episodes/c5_p000_e033/data.npz b/episodes/c5_p000_e033/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..107878d40b735c4c43c6c4b5fe3298f96b4e680b --- /dev/null +++ b/episodes/c5_p000_e033/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcda7d78b223321acdb3d7a09347a44ae7fba54bbcccc4d07d30780a4a11d630 +size 187040 diff --git a/episodes/c5_p000_e033/device_events.jsonl b/episodes/c5_p000_e033/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c5b5771f38ac5d774ea0029a96a28ab6153159be --- /dev/null +++ b/episodes/c5_p000_e033/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 116, "t": 0.58, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 116, "t": 0.58, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 121, "t": 0.605, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 2098, "t": 10.49, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 7043, "t": 35.215, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 7656, "t": 38.28, "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": 7656, "t": 38.28, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.216277911315164}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 7656, "t": 38.28, "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": 7656, "t": 38.28, "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": 7656, "t": 38.28, "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": 8075, "t": 40.375, "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": 8075, "t": 40.375, "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": 8075, "t": 40.375, "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": 8075, "t": 40.375, "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": 8075, "t": 40.375, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 8075, "t": 40.375, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 8075, "t": 40.375, "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": 8075, "t": 40.375, "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": 8075, "t": 40.375, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.216277911315164}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 8919, "t": 44.595, "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": 8919, "t": 44.595, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.220000000002159}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8919, "t": 44.595, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.220000000002159}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 8919, "t": 44.595, "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": 8919, "t": 44.595, "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": 8919, "t": 44.595, "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": 9339, "t": 46.695, "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": 9339, "t": 46.695, "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": 9339, "t": 46.695, "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": 9339, "t": 46.695, "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": 9339, "t": 46.695, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 9339, "t": 46.695, "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": 9919, "t": 49.595, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 11616, "t": 58.08, "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": 11616, "t": 58.08, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 11616, "t": 58.08, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 11616, "t": 58.08, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p000_e033/env.mp4 b/episodes/c5_p000_e033/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..57a42281e925d658d8bb9282c733478ddfdad381 --- /dev/null +++ b/episodes/c5_p000_e033/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad43401233d9f6eac660f9cda40f6508e57df79f252fb6dd7fc439f60c2adbd1 +size 1166913 diff --git a/episodes/c5_p000_e033/meta.json b/episodes/c5_p000_e033/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d251ba30e22a832b607270466d3ed66786e80d1a --- /dev/null +++ b/episodes/c5_p000_e033/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/33", + "fps": 25, + "frames": 1251, + "kept_ticks": "even", + "video_frames": { + "wrist": 1251, + "env": 1251 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e033/scene_snapshot.json b/episodes/c5_p000_e033/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..b7fb4030d0fe22b1d5d711787c8c32419f22f4c7 --- /dev/null +++ b/episodes/c5_p000_e033/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 33, + "env_id": 2, + "run_id": "c5_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 4.7098288810665245e-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": 0.228409755527189, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.06861960410046589, + "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": 0.228409755527189, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6026592254638672, + 1.1524629592895508, + 0.8999999761581421 + ], + "ori": [ + -0.010166014544665813, + -7.757287867615759e-12, + 4.178438484103708e-09, + 0.9999483823776245 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.896716531201719e-10, + -7.294010950786856e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 4.9865107598634495e-08, + 6.823345444217921e-08, + -3.876735821251032e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6963691711425781, + 0.8280515670776367, + 0.8999999761581421 + ], + "ori": [ + 0.6828151345252991, + 1.0226933255808035e-07, + -5.5025740408609636e-08, + 0.7305912375450134 + ], + "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": [ + 1.0173974995808521e-09, + 7.58744267415068e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -6.416601081582485e-07, + 7.792394285388582e-08, + 5.101759015246898e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.081787109375, + 0.45000362396240234, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.252066977348477e-09, + -1.0199047162373631e-09, + -4.2741514334920794e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.312802171999806e-10, + 1.3434693357794458e-09, + 0.0 + ], + "angular_velocity": [ + -1.0473179656855791e-07, + 4.998550906520904e-09, + -3.154660532800335e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3565311431884766, + 0.6358184814453125, + 0.8999999761581421 + ], + "ori": [ + -0.855154812335968, + 3.4190264841527096e-08, + 6.9072565445083e-09, + 0.5183727145195007 + ], + "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": [ + -1.958804451973606e-09, + 3.4698750539519096e-09, + 3.3527612686157227e-08 + ], + "angular_velocity": [ + -2.986753031564149e-07, + -1.7848063293968153e-07, + 2.572010160406535e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.6031599044799805, + 1.1542863845825195, + 0.9179999828338623 + ], + "ori": [ + -0.007500935345888138, + -6.93488391712016e-11, + 3.204103204978992e-09, + 0.9999719262123108 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.7199044794201654e-08, + -8.22580403792017e-09, + 7.82310962677002e-08 + ], + "angular_velocity": [ + 7.967895498950384e-08, + 1.4247399349187617e-06, + 1.3179544566810364e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.6873712539672852, + 0.8304586410522461, + 0.9180000424385071 + ], + "ori": [ + 0.632999062538147, + 1.0018614204909682e-07, + -6.070710867334128e-08, + 0.7741526365280151 + ], + "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": [ + 4.814456033841452e-08, + 1.808493621524576e-08, + -5.0067901611328125e-06 + ], + "angular_velocity": [ + 1.9081435311818495e-06, + 3.121523377558333e-06, + -3.365070995187125e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.0700826644897461, + 0.4519004821777344, + 0.9180000424385071 + ], + "ori": [ + 0.9996083378791809, + 2.099627582907715e-09, + -2.4569080103731267e-09, + -0.027984024956822395 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.038012116491245e-09, + 1.2775702273870593e-08, + -5.122274160385132e-06 + ], + "angular_velocity": [ + 2.015911491071165e-07, + -1.3830699572281446e-06, + 6.374307304213289e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.3497657775878906, + 0.6254615783691406, + 0.9179999828338623 + ], + "ori": [ + -0.8609119057655334, + 3.581134677688169e-08, + 6.031980248621949e-09, + 0.5087540149688721 + ], + "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": [ + -1.0883860568355885e-07, + 1.2211809519158123e-07, + -1.2218952178955078e-06 + ], + "angular_velocity": [ + -3.1300439786718925e-06, + -4.877181254414609e-06, + 1.3606515381070494e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 8.239999999999888, + "step": 1648, + "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": 4.7098288810665245e-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": 0.228409755527189, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1531, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.4526592195034027, + 0.7024629712104797, + 0.0 + ], + "carrier_2": [ + 1.5463691651821136, + 0.3780515789985657, + 0.0 + ], + "carrier_3": [ + -0.06821289658546448, + 3.635883331298828e-06, + 0.0 + ], + "carrier_4": [ + -1.506531149148941, + 0.18581849336624146, + 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 + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.5431175721883907, + 0.5140563535401097, + 3.191498838287222 + ], + "ori": [ + 3.888402815614892, + -6.850819770496091, + -14.462195922957836 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6699.067533864644, + "color": [ + 0.8466164591558828, + 0.8277355630911379, + 0.9913259803680582 + ], + "intensity": 10336.331896650889, + "width": 2.2632149916990283, + "height": 1.792066460690426 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.050850753106729, + 0.006864785633500237, + 1.719290690328437 + ], + "ori": [ + 4.305211126385785, + 28.409970602702927, + -19.98162732027442 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5930.803494758246, + "color": [ + 0.9026846914482426, + 0.7618847169637754, + 0.868689415083665 + ], + "intensity": 1846.3099551250996, + "radius": 0.07912112840151815 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1088.4040212621194, + "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": [ + [ + 0.9141009449958801, + -1.7193976640701294, + 2.09049916267395, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + -0.2884621024131775, + -2.2107656002044678, + 2.337512969970703, + -1.6970999240875244, + -1.5702661275863647, + 4.439101696014404, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 0.9141026735305786, + -1.7193981409072876, + 2.090500593185425, + -1.941901683807373, + -1.5707999467849731, + 2.484900712966919, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 2.5373992919921875, + -2.2408416271209717, + 2.239962339401245, + -1.5709757804870605, + -1.572637677192688, + 4.107240200042725, + 0.01799996942281723, + 0.018000029027462006 + ] + ], + "joint_vel": [ + [ + 0.0, + -2.4615399400920885e-38, + -1.6967874689000626e-38, + -3.6136139973165453e-37, + 5.985565899779665e-37, + -2.7013861404043733e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + -2.554463662818307e-06, + -1.3623709492094349e-05, + -1.3623841368826106e-05, + -3.4059632980643073e-06, + 1.021793741529109e-05, + 1.3623916856886353e-05, + 5.197442831672561e-08, + -5.1971291270547226e-08 + ], + [ + 2.3672462861679787e-38, + -1.692063131257438e-38, + 1.6297639238707923e-38, + -4.873512029865308e-37, + 4.215981984592823e-37, + -2.8646659307245604e-37, + 5.19807308307918e-08, + -5.198079477963802e-08 + ], + [ + -0.008817111141979694, + -0.013462654314935207, + 0.004757412243634462, + 0.008382167667150497, + 1.773931217030622e-06, + -0.008828488178551197, + -2.0167108232271858e-06, + 2.0167815364402486e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.049993954598903656, + 0.001119371154345572, + -0.03129241615533829, + -0.2897873818874359, + 0.6383488178253174, + 0.6539647579193115, + -0.2843662202358246 + ], + [ + 0.05150057375431061, + -0.0008931586053222418, + -0.03239087760448456, + -0.27136239409446716, + 0.6512660384178162, + 0.6509478092193604, + -0.2801463007926941 + ], + [ + 0.05347716435790062, + 0.0018306308193132281, + -0.03185778856277466, + -0.2791431248188019, + 0.6575397253036499, + 0.6419973373413086, + -0.2784960865974426 + ], + [ + 0.04737161099910736, + -0.001090477337129414, + -0.03162257745862007, + -0.29120054841041565, + 0.6418737173080444, + 0.6506359577178955, + -0.28261852264404297 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e033/wrist.mp4 b/episodes/c5_p000_e033/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f336b09bebf18670151b972cdb22452c2ba4e091 --- /dev/null +++ b/episodes/c5_p000_e033/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a00bc79504bf14e8929866afb03a4fcc37dd33ebb11783ae4aa0f3a8e0fbdac5 +size 7033479 diff --git a/episodes/c5_p000_e034/data.npz b/episodes/c5_p000_e034/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..4d53b4bdc6f54da03092a699c0b83b6f0015e3ca --- /dev/null +++ b/episodes/c5_p000_e034/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03a8f7c96cda9476efb263565d4bc7df4f8a850a2e2909b7d96b9ebc80d00e6d +size 189590 diff --git a/episodes/c5_p000_e034/device_events.jsonl b/episodes/c5_p000_e034/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..93a4399fd6c1f2275177e641194835a0b7b31d93 --- /dev/null +++ b/episodes/c5_p000_e034/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 0, "seq": 1, "step": 84, "t": 0.42, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 84, "t": 0.42, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 89, "t": 0.445, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1836, "t": 9.18, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 1990, "t": 9.95, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 6535, "t": 32.675, "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": 7152, "t": 35.76, "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": 7152, "t": 35.76, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.5114950329435093}, "cause": "task-0-1"} +{"env_id": 0, "seq": 9, "step": 7152, "t": 35.76, "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": 7152, "t": 35.76, "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": 7152, "t": 35.76, "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": 7571, "t": 37.855, "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": 7571, "t": 37.855, "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": 7571, "t": 37.855, "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": 7571, "t": 37.855, "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": 7571, "t": 37.855, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 7571, "t": 37.855, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 18, "step": 7571, "t": 37.855, "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": 7571, "t": 37.855, "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": 7571, "t": 37.855, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.5114950329435093}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8274, "t": 41.37, "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": 8274, "t": 41.37, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.5150000000017982}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 8274, "t": 41.37, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.5150000000017982}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 24, "step": 8274, "t": 41.37, "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": 8274, "t": 41.37, "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": 8274, "t": 41.37, "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": 8694, "t": 43.47, "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": 8694, "t": 43.47, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.870627705131028e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8694, "t": 43.47, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.870627705131028e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 8694, "t": 43.47, "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": 8694, "t": 43.47, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 8694, "t": 43.47, "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": 9275, "t": 46.375, "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": 10980, "t": 54.9, "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": 10980, "t": 54.9, "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": 10980, "t": 54.9, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 37, "step": 10980, "t": 54.9, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p000_e034/env.mp4 b/episodes/c5_p000_e034/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f0e133ca372ea3c62cf2abbe5b2310dd1d0e7fcb --- /dev/null +++ b/episodes/c5_p000_e034/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61b271ce509a2a5879784c1d814dace475b4ade57b416259c51c6e3761750a2d +size 1227267 diff --git a/episodes/c5_p000_e034/meta.json b/episodes/c5_p000_e034/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8f3295467bdf48c36afe9f5e3722ec745cef9531 --- /dev/null +++ b/episodes/c5_p000_e034/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/34", + "fps": 25, + "frames": 1203, + "kept_ticks": "even", + "video_frames": { + "wrist": 1203, + "env": 1203 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e034/scene_snapshot.json b/episodes/c5_p000_e034/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..ea86e0223b866368318bcccc20ff763b6b19e6f5 --- /dev/null +++ b/episodes/c5_p000_e034/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 34, + "env_id": 0, + "run_id": "c5_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5240573883056641, + 0.07274436950683594, + 0.8999999761581421 + ], + "ori": [ + -0.6924200057983398, + 0.0, + 0.0, + 0.7214946746826172 + ], + "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": [ + 1.6820835089387254e-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": 0.21225118488997485, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2581468464854671, + "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": 0.21225118488997485, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.684366226196289, + 0.706843376159668, + 0.8999999761581421 + ], + "ori": [ + 0.8008360862731934, + 3.5061432868133124e-08, + -4.146157550621865e-08, + 0.5988836884498596 + ], + "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": [ + 3.316596064451005e-08, + -8.337366921296052e-07, + -3.0547380447387695e-06 + ], + "angular_velocity": [ + 6.7551874963101e-05, + 1.6454482647532132e-06, + 4.206376331694628e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3184785842895508, + 1.019700050354004, + 0.8999999761581421 + ], + "ori": [ + -0.42230769991874695, + -5.1311936033471284e-08, + -5.113023338054745e-09, + 0.9064525961875916 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.252169810177065e-10, + 4.705413836347816e-10, + 0.0 + ], + "angular_velocity": [ + 1.581159025931811e-08, + 3.636673184814754e-10, + -1.8435192927768185e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.1083383560180664, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.0375101605907275e-09, + -2.3964061290904226e-10, + 2.48151791311102e-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": [ + -2.3308888152939744e-10, + 2.7809123892552634e-09, + 0.0 + ], + "angular_velocity": [ + -8.497537606899641e-08, + 4.068569925408383e-10, + 2.0479799189843106e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.22652816772460938, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + 3.588250183383934e-05, + 2.809107613188644e-08, + 9.21532361530808e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.515186612432444e-09, + 3.44284529774086e-08, + 8.940696716308594e-08 + ], + "angular_velocity": [ + -1.1535902331161196e-06, + 6.795551144023193e-07, + -1.0816937390245585e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.683924674987793, + 0.6919212341308594, + 0.9179999828338623 + ], + "ori": [ + 0.7438587546348572, + -5.319479896570556e-07, + -5.237861273599265e-07, + 0.6683368682861328 + ], + "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": [ + 1.059044552675914e-05, + -6.546512850036379e-06, + -1.1935830116271973e-05 + ], + "angular_velocity": [ + 0.00017293028940912336, + 0.00027859106194227934, + -4.302424349589273e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -1.3273124694824219, + 1.0200834274291992, + 0.9180000424385071 + ], + "ori": [ + -0.40087294578552246, + -5.1539700507419184e-08, + -5.076465470210678e-09, + 0.9161336421966553 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.996552967398202e-08, + 2.622035211174989e-08, + -5.941838026046753e-06 + ], + "angular_velocity": [ + -1.8885245935962303e-06, + 1.1240992989769438e-06, + -7.862412587655854e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -0.0965738296508789, + 0.4509725570678711, + 0.9180000424385071 + ], + "ori": [ + 0.9949796795845032, + 1.390330961470454e-09, + -4.274692821937265e-10, + 0.10007766634225845 + ], + "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": [ + -2.880383931369579e-08, + 9.355153984813569e-09, + -5.591660737991333e-06 + ], + "angular_velocity": [ + 3.275916355960362e-07, + -1.6539845546503784e-06, + 2.619277097437589e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.23430728912353516, + 1.1565017700195312, + 0.9179999828338623 + ], + "ori": [ + -0.002576403087005019, + 2.853332858876456e-08, + 1.1150806500381805e-08, + 0.9999966621398926 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2823039696741034e-07, + 1.2672023785853526e-07, + -9.126961231231689e-07 + ], + "angular_velocity": [ + -1.624819788048626e-06, + 4.293045549275121e-06, + -7.862167450412016e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 6.979999999999873, + "step": 1396, + "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": 1.6820835089387254e-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": 0.21225118488997485, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1311, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5343662202358246, + 0.2568433880805969, + 0.0 + ], + "carrier_2": [ + -1.4684785902500153, + 0.5697000622749329, + 0.0 + ], + "carrier_3": [ + -0.2583383619785309, + 7.748603820800781e-07, + 0.0 + ], + "carrier_4": [ + 0.0765281617641449, + 0.699998676776886, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.05636753007220896, + -0.10444220596827486, + 3.1702042259846297 + ], + "ori": [ + -8.50688061472898, + -9.340710803252911, + 4.258046089247671 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5962.433891863747, + "color": [ + 0.978153590209404, + 0.9954598176140728, + 0.9954439395235252 + ], + "intensity": 8452.64614761875, + "width": 2.5055499385337026, + "height": 1.1711571568064447 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.3731863961824735, + 0.5801683347691426, + 2.0226635054164945 + ], + "ori": [ + -21.03249852712362, + 25.238370797439302, + -31.024110786613576 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7238.86876627474, + "color": [ + 0.990731249098645, + 0.7963318791348748, + 0.815076705461427 + ], + "intensity": 8165.694678341664, + "radius": 0.2510487096976888 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1088.4040212621194, + "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": [ + [ + 0.9141009449958801, + -1.7193976640701294, + 2.09049916267395, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + -0.2884621024131775, + -2.2107656002044678, + 2.337512969970703, + -1.6970999240875244, + -1.5702661275863647, + 4.439101696014404, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 0.8544771671295166, + -1.2409323453903198, + 2.167670726776123, + -2.497509717941284, + -1.5707963705062866, + 2.4812421798706055, + 0.018000010401010513, + 0.017999989911913872 + ], + [ + 2.5295658111572266, + -2.252495765686035, + 2.24417781829834, + -1.5635415315628052, + -1.5726295709609985, + 4.0994062423706055, + 0.01799999363720417, + 0.018000004813075066 + ] + ], + "joint_vel": [ + [ + 0.0, + -2.4615399400920885e-38, + -1.6967874689000626e-38, + -3.6136139973165453e-37, + 5.985565899779665e-37, + -2.7013861404043733e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + -2.5544634354446316e-06, + -1.3623709492094349e-05, + -1.3623842278320808e-05, + -3.4059587505907984e-06, + 1.021793741529109e-05, + 1.3623917766381055e-05, + 5.1974431869439286e-08, + -5.197125929612412e-08 + ], + [ + -9.410058555658907e-05, + 0.010876293294131756, + 0.0034784958697855473, + -0.013622092083096504, + -8.053331839619204e-06, + -1.4023400581208989e-05, + -5.598933967121411e-06, + 5.573514044954209e-06 + ], + [ + 6.811905223003123e-06, + -3.4322596847990994e-12, + -3.439942558233766e-12, + 6.81195479046437e-06, + 3.260788449151175e-13, + -1.3623914128402248e-05, + 7.797084577987334e-08, + -7.797157763889118e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.0534634105861187, + 0.0015877452678978443, + -0.03195996955037117, + -0.2889465391635895, + 0.6363019347190857, + 0.657871663570404, + -0.2807750105857849 + ], + [ + 0.05130863934755325, + -9.883371967589483e-05, + -0.03049386292695999, + -0.27222877740859985, + 0.6563549637794495, + 0.6461794972419739, + -0.27846306562423706 + ], + [ + 0.052546191960573196, + 0.004665966145694256, + -0.032732341438531876, + -0.2701743543148041, + 0.657378613948822, + 0.6427871584892273, + -0.2858039140701294 + ], + [ + 0.04879485443234444, + 0.0006310945027507842, + -0.03223051875829697, + -0.287425696849823, + 0.6403307318687439, + 0.6535050868988037, + -0.2833622097969055 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e034/wrist.mp4 b/episodes/c5_p000_e034/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6482208cf57a8846ba61b233dc1ecdc8ce613d32 --- /dev/null +++ b/episodes/c5_p000_e034/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d56323f23dee53dc6e21847deb172f565bea27591667903bd94890ded2641a5e +size 8196009 diff --git a/episodes/c5_p000_e035/data.npz b/episodes/c5_p000_e035/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..3b19af72a04bd8c2773e9060623482f5b645dfc8 --- /dev/null +++ b/episodes/c5_p000_e035/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02b6726591bf1dc30ba81f7a6abc85463a7a118966b8cb65c91778e510c22be1 +size 185449 diff --git a/episodes/c5_p000_e035/device_events.jsonl b/episodes/c5_p000_e035/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d7a6afd6ad44012f49ac104cfa63e2c5366dccd3 --- /dev/null +++ b/episodes/c5_p000_e035/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 1, "seq": 1, "step": 18, "t": 0.09, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 18, "t": 0.09, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 23, "t": 0.115, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 842, "t": 4.21, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 915, "t": 4.575, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 5523, "t": 27.615, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 7, "step": 6136, "t": 30.68, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 6136, "t": 30.68, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.454929413478299}, "cause": "task-1-1"} +{"env_id": 1, "seq": 9, "step": 6136, "t": 30.68, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 6136, "t": 30.68, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 6136, "t": 30.68, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 6555, "t": 32.775, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 13, "step": 6555, "t": 32.775, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 6555, "t": 32.775, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 15, "step": 6555, "t": 32.775, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 16, "step": 6555, "t": 32.775, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 6555, "t": 32.775, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 18, "step": 6555, "t": 32.775, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 6555, "t": 32.775, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 6555, "t": 32.775, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.454929413478299}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7446, "t": 37.23, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 22, "step": 7446, "t": 37.23, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.455000000002279}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 7446, "t": 37.23, "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": 4.455000000002279}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 24, "step": 7446, "t": 37.23, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 25, "step": 7446, "t": 37.23, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 7446, "t": 37.23, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 7866, "t": 39.33, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 28, "step": 7866, "t": 39.33, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 8.511595872562339e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 7866, "t": 39.33, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 8.511595872562339e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 30, "step": 7866, "t": 39.33, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 31, "step": 7866, "t": 39.33, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 32, "step": 7866, "t": 39.33, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 33, "step": 8446, "t": 42.23, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 34, "step": 10156, "t": 50.78, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 10156, "t": 50.78, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 36, "step": 10156, "t": 50.78, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 37, "step": 10156, "t": 50.78, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p000_e035/env.mp4 b/episodes/c5_p000_e035/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c1c2c3fd2bfc14bbd149ec616b8a68a306f6a383 --- /dev/null +++ b/episodes/c5_p000_e035/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af37fb7b0b1bd25866490a03ec0026917ea5641bf94127d85dd03bece9da07c5 +size 1297693 diff --git a/episodes/c5_p000_e035/meta.json b/episodes/c5_p000_e035/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..607cb7e7042190054d1ed3329de76d9977d9b00f --- /dev/null +++ b/episodes/c5_p000_e035/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/35", + "fps": 25, + "frames": 1221, + "kept_ticks": "even", + "video_frames": { + "wrist": 1221, + "env": 1221 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e035/scene_snapshot.json b/episodes/c5_p000_e035/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..1cff3b304e76a4025a61be5bd0729e945115e100 --- /dev/null +++ b/episodes/c5_p000_e035/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 35, + "env_id": 1, + "run_id": "c5_p000", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5098752975463867, + 0.08571529388427734, + 0.8999999761581421 + ], + "ori": [ + 0.7111824154853821, + 0.0, + 0.0, + -0.7030075192451477 + ], + "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": [ + 3.70058324261624e-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": 0.2904493116545849, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1255677133503457, + "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": 0.2904493116545849, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6767282485961914, + 0.9227695465087891, + 0.8999999761581421 + ], + "ori": [ + 0.5723919868469238, + 1.123705644090478e-07, + -8.365024939394061e-08, + 0.8199801445007324 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.048950413311104e-08, + -2.5127974367933348e-08, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 9.475988917984068e-07, + -1.6105350368889049e-06, + 6.026146479598538e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.024509429931640625, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.104762751921953e-09, + 3.408095750057072e-10, + -2.397770731477067e-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": [ + 8.501410686534427e-10, + 6.305559407948635e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -4.833589173358632e-08, + 8.875646528849757e-08, + -3.533263015498278e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1426229476928711, + 1.1500024795532227, + 0.8999999761581421 + ], + "ori": [ + -1.868169601948466e-05, + 1.1817762768373541e-08, + 3.5768801254221216e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.611938608789501e-10, + -2.9673530299589856e-10, + 0.0 + ], + "angular_velocity": [ + -2.266633458702927e-08, + -4.003835130106381e-08, + 4.6783146245843454e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2927055358886719, + 0.5499267578125, + 0.9000018239021301 + ], + "ori": [ + 0.9246808290481567, + 4.517922570812516e-05, + -1.17909758046153e-05, + -0.3807433247566223 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 0.00012102829350624233, + 0.00015990457904990762, + -0.00035100057721138 + ], + "angular_velocity": [ + -0.013640704564750195, + 0.010348821990191936, + 3.3386037102900445e-05 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 1.6730947494506836, + 0.9322490692138672, + 0.9180000424385071 + ], + "ori": [ + 0.5480716824531555, + 1.903332247366052e-07, + 1.8789307887345785e-07, + 0.8364313244819641 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.099872290273197e-06, + -2.860606400645338e-06, + -2.8721988201141357e-06 + ], + "angular_velocity": [ + 3.774424840230495e-05, + 2.3964938009157777e-05, + 3.730400567292236e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.027942657470703125, + 0.45720863342285156, + 0.9180000424385071 + ], + "ori": [ + 0.995648980140686, + 3.4055744890792994e-09, + 8.193232758912927e-10, + -0.09318352490663528 + ], + "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": [ + -1.0293074836909e-08, + 8.24582713221389e-09, + -5.6549906730651855e-06 + ], + "angular_velocity": [ + 3.8007900116099336e-07, + -1.7563919527674443e-06, + 1.6521084944542963e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.14899635314941406, + 1.161935806274414, + 0.9179999828338623 + ], + "ori": [ + -0.10276787728071213, + 1.280876649190077e-08, + 2.1585753184893974e-09, + 0.9947054386138916 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1996886151166564e-08, + -1.0041565801088836e-08, + -5.6140124797821045e-06 + ], + "angular_velocity": [ + -2.940313947874529e-07, + 1.1157229664604529e-06, + 9.325381711278169e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.2877655029296875, + 0.538966178894043, + 0.9179996252059937 + ], + "ori": [ + 0.9233707785606384, + -2.9035634725005366e-05, + 2.4262497390736826e-05, + -0.3839093744754791 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 0.0001315430854447186, + 0.00022194196935743093, + -0.0007465966045856476 + ], + "angular_velocity": [ + -0.003370187245309353, + -0.002160790143534541, + -0.00039887730963528156 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 2.079999999999978, + "step": 416, + "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": 3.70058324261624e-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": 0.2904493116545849, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 397, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.526728242635727, + 0.472769558429718, + 0.0 + ], + "carrier_2": [ + -0.12549057602882385, + 7.748603820800781e-07, + 0.0 + ], + "carrier_3": [ + -0.007377058267593384, + 0.7000024914741516, + 0.0 + ], + "carrier_4": [ + -1.4427055418491364, + 0.09992676973342896, + 1.8477439880371094e-06 + ] + }, + "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": [ + 0.08873072172742857, + -0.47717780793132536, + 3.093684021749389 + ], + "ori": [ + 10.565794398455164, + 12.754838455050404, + 29.524403298306687 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4796.143336040808, + "color": [ + 0.9207658007516429, + 0.9953407300134318, + 0.8158102472289019 + ], + "intensity": 4028.7907641694605, + "width": 2.4855110846513635, + "height": 1.6790523446671064 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.4209474677886882, + 1.0869161392613573, + 2.4599045240266464 + ], + "ori": [ + 20.311099095924433, + 35.20040793660658, + -15.102849075577438 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6411.587678889895, + "color": [ + 0.8771876562710538, + 0.9781610948107203, + 0.9738173759079702 + ], + "intensity": 8063.386656872011, + "radius": 0.07325731873816832 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1088.4040212621194, + "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": [ + [ + 2.5313022136688232, + -2.252654552459717, + 2.2432780265808105, + -1.5597385168075562, + -1.5689494609832764, + 4.103837013244629, + 0.01799999363720417, + 0.018000004813075066 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 2.596985340118408, + -1.8424171209335327, + 2.628171443939209, + -2.3566086292266846, + -1.570833683013916, + 4.168361663818359, + 0.018000049516558647, + 0.01799994893372059 + ], + [ + -0.2436491698026657, + -2.2425811290740967, + 2.3503758907318115, + -1.6782252788543701, + -1.5716263055801392, + 4.51371431350708, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 6.811902039771667e-06, + -9.281433992680208e-14, + -1.1663846971599057e-13, + -1.2102504328564967e-13, + -1.7394325725877263e-13, + -1.3623913218907546e-05, + 7.796804624149445e-08, + -7.797411427645784e-08 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.020394999533891678, + 0.042793724685907364, + -0.024520307779312134, + -0.017943665385246277, + 2.768453305179719e-05, + 0.020436588674783707, + 7.043794084893307e-06, + -7.043634013825795e-06 + ], + [ + 1.0701047358452342e-05, + -0.0013177499640733004, + -0.005339919589459896, + 0.006464102305471897, + 3.847905645670835e-06, + -1.8469233253881612e-08, + -1.33205745100895e-07, + 1.3322203074039862e-07 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.053422149270772934, + 0.001277904724702239, + -0.031656112521886826, + -0.28923484683036804, + 0.6395599842071533, + 0.655788242816925, + -0.2779351770877838 + ], + [ + 0.048791028559207916, + -0.00027348357252776623, + -0.031088950112462044, + -0.27166375517845154, + 0.6556819677352905, + 0.6460988521575928, + -0.2807779312133789 + ], + [ + 0.05345381423830986, + 0.0014385710237547755, + -0.03013823740184307, + -0.2769710421562195, + 0.6490895748138428, + 0.6463422179222107, + -0.290192186832428 + ], + [ + 0.04709884896874428, + -0.0004990533925592899, + -0.029731402173638344, + -0.2992750108242035, + 0.6394461393356323, + 0.650903582572937, + -0.2790476679801941 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e035/wrist.mp4 b/episodes/c5_p000_e035/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b524e57f2863bb1061f54925d00670790c1085eb --- /dev/null +++ b/episodes/c5_p000_e035/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:462692f8f124271af1336f8f85d0b9d101f3fd1b292a94125ba303183ab78a03 +size 6555140 diff --git a/episodes/c5_p000_e036/data.npz b/episodes/c5_p000_e036/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..c45650f72ccd9d170bcd9221de86ae5f89c3ff91 --- /dev/null +++ b/episodes/c5_p000_e036/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58bca8676963dce133494a92ae0213e80a93010ed1981e7599493f92a2b025ca +size 190218 diff --git a/episodes/c5_p000_e036/device_events.jsonl b/episodes/c5_p000_e036/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..13a3202bc110e8124ed9d56ddf7f34df7e40de20 --- /dev/null +++ b/episodes/c5_p000_e036/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 92, "t": 0.46, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 92, "t": 0.46, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 97, "t": 0.485, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7744, "t": 38.72, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 7744, "t": 38.72, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.6165492111067405}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7744, "t": 38.72, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 7744, "t": 38.72, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 7744, "t": 38.72, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 8163, "t": 40.815, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 8163, "t": 40.815, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 8163, "t": 40.815, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 8163, "t": 40.815, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 8163, "t": 40.815, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 8163, "t": 40.815, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 8163, "t": 40.815, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 8163, "t": 40.815, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 8163, "t": 40.815, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.6165492111067405}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8687, "t": 43.435, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 8687, "t": 43.435, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.6200000000013404}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8687, "t": 43.435, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.6200000000013404}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8687, "t": 43.435, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 8687, "t": 43.435, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 8687, "t": 43.435, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 9107, "t": 45.535, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 9107, "t": 45.535, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 9107, "t": 45.535, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 9107, "t": 45.535, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 9107, "t": 45.535, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 9107, "t": 45.535, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 9687, "t": 48.435, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 11404, "t": 57.02, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 11404, "t": 57.02, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11404, "t": 57.02, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11404, "t": 57.02, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p000_e036/env.mp4 b/episodes/c5_p000_e036/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7dda059f684b48bb968318378984ac25aa05e79b --- /dev/null +++ b/episodes/c5_p000_e036/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:603eefbfa67991c3b1ed5ea0d0e132a28dffe06486467bc8be6c8d2ffaeb5929 +size 1305419 diff --git a/episodes/c5_p000_e036/meta.json b/episodes/c5_p000_e036/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..87b28064d593a30846877c18fe6f365697ffa129 --- /dev/null +++ b/episodes/c5_p000_e036/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/36", + "fps": 25, + "frames": 1211, + "kept_ticks": "even", + "video_frames": { + "wrist": 1211, + "env": 1211 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e036/scene_snapshot.json b/episodes/c5_p000_e036/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..9a5873dcfc05ec2c53068228d140c3438f6e6ae8 --- /dev/null +++ b/episodes/c5_p000_e036/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 36, + "env_id": 3, + "run_id": "c5_p000", + "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_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.21297817410138803, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.06011179313662307, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.21297817410138803, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6373443603515625, + 0.6055459976196289, + 0.8999999761581421 + ], + "ori": [ + 0.8871362805366516, + -8.730841827286895e-09, + 7.045797900673278e-08, + 0.4615075886249542 + ], + "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": [ + -2.8679836283629356e-12, + -2.7538279989691716e-10, + 0.0 + ], + "angular_velocity": [ + 1.853460496192838e-08, + -8.609413271187805e-08, + 1.8402133150630107e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.10508251190185547, + 1.1500062942504883, + 0.8999999761581421 + ], + "ori": [ + 6.09744165558368e-05, + 2.9423977143672175e-10, + -5.3897966090232785e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.531410022882824e-10, + -1.8372114940490292e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.4348663057717204e-07, + 8.745249147068535e-08, + -4.453948765359428e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.390641212463379, + 0.8670215606689453, + 0.8999999761581421 + ], + "ori": [ + -0.6278314590454102, + -5.121936297314278e-08, + -4.230748018585473e-08, + 0.7783493995666504 + ], + "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": [ + -3.492792444159676e-10, + -1.0459139110352567e-10, + 0.0 + ], + "angular_velocity": [ + 2.129995024802156e-08, + -1.0978801867622678e-08, + 3.498881628871686e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.09034156799316406, + 0.4499931335449219, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.568979612898147e-09, + -8.18386469703114e-10, + 2.6054294721689075e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.093213876847472e-10, + 1.4599834674555723e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -5.690873550179276e-08, + -7.51257829278984e-08, + 1.3085753591823845e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.6411056518554688, + 0.5900764465332031, + 0.9179999828338623 + ], + "ori": [ + 0.8669593334197998, + -4.998911062870093e-09, + 7.233865773059733e-08, + 0.498379111289978 + ], + "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": [ + -9.497236774791418e-09, + -1.139232708169402e-08, + 3.3527612686157227e-08 + ], + "angular_velocity": [ + 8.070178409980144e-07, + -2.5047904728126014e-07, + 2.782477004359407e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.10138511657714844, + 1.153813362121582, + 0.9180000424385071 + ], + "ori": [ + 0.019995762035250664, + 1.650141467912647e-09, + -5.275957892791894e-09, + 0.9998001456260681 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.050253478103059e-08, + -2.3685451822075265e-08, + -5.859881639480591e-06 + ], + "angular_velocity": [ + 4.4483482497525983e-07, + 1.6687803281456581e-06, + 1.2507275926054717e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.3801507949829102, + 0.8755264282226562, + 0.9180000424385071 + ], + "ori": [ + -0.6563405394554138, + -5.4380535630116356e-08, + -4.111431195497062e-08, + 0.754464864730835 + ], + "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": [ + -1.0269274319796295e-08, + 1.4397256720144469e-08, + -4.939734935760498e-06 + ], + "angular_velocity": [ + -1.5168852769420482e-06, + -8.558947683923179e-07, + 7.1620318564669105e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.10425758361816406, + 0.43964290618896484, + 0.9179999828338623 + ], + "ori": [ + 0.9998491406440735, + 9.648625010072465e-09, + 5.26963050972995e-09, + -0.017375359311699867 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.774268968001707e-08, + -2.8625688486272338e-08, + -3.430992364883423e-06 + ], + "angular_velocity": [ + 3.032023187188315e-06, + -2.2024178178980947e-06, + 2.1663373672708985e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 8.799999999999976, + "step": 1760, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.21297817410138803, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1667, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.487344354391098, + 0.15554600954055786, + 0.0 + ], + "carrier_2": [ + -0.04491749405860901, + 0.7000063061714172, + 0.0 + ], + "carrier_3": [ + -1.5406412184238434, + 0.41702157258987427, + 0.0 + ], + "carrier_4": [ + -0.059658437967300415, + -6.854534149169922e-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": [ + 0.7741660326045549, + -0.3669238229449231, + 2.7920895122846416 + ], + "ori": [ + -10.842551003973842, + 3.5262427196881774, + 0.5147353552109344 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6459.610601640443, + "color": [ + 0.8743736205520717, + 0.9903563226702664, + 0.8517765105357933 + ], + "intensity": 8802.76928861708, + "width": 1.4794841540577623, + "height": 1.71064331360092 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.0059498553455317, + -0.09968409524210853, + 1.9455591130022283 + ], + "ori": [ + -10.522626000129325, + 0.0507807316846538, + 8.224659586147183 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4356.184362140162, + "color": [ + 0.8283616472615322, + 0.8809617133944778, + 0.8790800563239025 + ], + "intensity": 2290.364701373542, + "radius": 0.19210653716532655 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1088.4040212621194, + "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": [ + [ + -0.32775306701660156, + -2.1626391410827637, + 2.406348943710327, + -1.8144981861114502, + -1.5708175897598267, + 4.321242809295654, + 0.007295563351362944, + 0.006601350381970406 + ], + [ + -0.05862724408507347, + -1.9964474439620972, + 2.5520198345184326, + -2.1270573139190674, + -1.571441888809204, + 4.664241790771484, + 0.018000006675720215, + 0.01799999177455902 + ], + [ + -0.11796310544013977, + -2.160893678665161, + 2.4056789875030518, + -1.81552255153656, + -1.570796251296997, + 4.644745826721191, + 0.007738819345831871, + 0.007112034130841494 + ], + [ + 0.9141019582748413, + -1.719398021697998, + 2.09049916267395, + -1.9419002532958984, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 0.011184599250555038, + 0.004629143979400396, + -0.0018902216106653214, + -0.0029295815620571375, + 0.00017857732018455863, + -0.011843737214803696, + -0.009207524359226227, + 0.00025999624631367624 + ], + [ + 0.00012521749886218458, + -0.01935957744717598, + -0.016995754092931747, + 0.03530636802315712, + 1.3618921457236866e-06, + -1.5167287870099244e-07, + -1.0777612260426395e-06, + 1.0778305750136496e-06 + ], + [ + 0.007285842206329107, + 0.003018413670361042, + -0.0016377896536141634, + -0.0019197110086679459, + -0.0007611799519509077, + 0.00882741343230009, + -0.007914922200143337, + 0.000263493595412001 + ], + [ + 2.3790023395045853e-38, + -2.2829489349689764e-38, + -1.633145537324901e-38, + -6.863164375784383e-37, + 6.254274857559015e-37, + 8.192000351272438e-38, + 2.5990386731677972e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05115359276533127, + 7.190048199845478e-05, + -0.030710862949490547, + -0.2911766469478607, + 0.6385558843612671, + 0.6563907861709595, + -0.27679184079170227 + ], + [ + 0.049073390662670135, + -0.0019017935264855623, + -0.03123764880001545, + -0.2728399634361267, + 0.6582130789756775, + 0.6442310214042664, + -0.27799326181411743 + ], + [ + 0.054596513509750366, + 0.0004420206823851913, + -0.0320286899805069, + -0.2781238555908203, + 0.6548455357551575, + 0.6418774724006653, + -0.28603804111480713 + ], + [ + 0.05035725235939026, + 0.0011899592354893684, + -0.032574720680713654, + -0.2906247079372406, + 0.6419835686683655, + 0.653012752532959, + -0.2774323523044586 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e036/wrist.mp4 b/episodes/c5_p000_e036/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..139f161d8d18dddb43749e31f3d68d95730c059f --- /dev/null +++ b/episodes/c5_p000_e036/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28277dcb52d92ac83e31cab4ff6dec9e269c18a9c8c629ab70cec7dee761f7e8 +size 6268005 diff --git a/episodes/c5_p000_e037/data.npz b/episodes/c5_p000_e037/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..f78e244480db4d96e232051b948abfc0d8cac999 --- /dev/null +++ b/episodes/c5_p000_e037/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c5dda63ec132a0a76f17c84b40df63838ea8b4f770ecdcc2ace59d2103bf6df +size 183622 diff --git a/episodes/c5_p000_e037/device_events.jsonl b/episodes/c5_p000_e037/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0ec73ffbafdee97e5cbbd00b812a3cf2698c1a63 --- /dev/null +++ b/episodes/c5_p000_e037/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 2, "seq": 1, "step": 95, "t": 0.475, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 95, "t": 0.475, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 100, "t": 0.5, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 931, "t": 4.655, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 1031, "t": 5.155, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 5627, "t": 28.135, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 6240, "t": 31.2, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6240, "t": 31.2, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.7887181439816386}, "cause": "task-2-1"} +{"env_id": 2, "seq": 9, "step": 6240, "t": 31.2, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 6240, "t": 31.2, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 6240, "t": 31.2, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 6659, "t": 33.295, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 13, "step": 6659, "t": 33.295, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 6659, "t": 33.295, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 6659, "t": 33.295, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 16, "step": 6659, "t": 33.295, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 6659, "t": 33.295, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 18, "step": 6659, "t": 33.295, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 6659, "t": 33.295, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 6659, "t": 33.295, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.7887181439816386}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7017, "t": 35.085, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 22, "step": 7017, "t": 35.085, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.7900000000009157}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7017, "t": 35.085, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.7900000000009157}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 24, "step": 7017, "t": 35.085, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 7017, "t": 35.085, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 7017, "t": 35.085, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 7437, "t": 37.185, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 28, "step": 7437, "t": 37.185, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.418796522604907e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 7437, "t": 37.185, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.418796522604907e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 7437, "t": 37.185, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 31, "step": 7437, "t": 37.185, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 7437, "t": 37.185, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 33, "step": 8017, "t": 40.085, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 34, "step": 9732, "t": 48.66, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 9732, "t": 48.66, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 36, "step": 9732, "t": 48.66, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 37, "step": 9732, "t": 48.66, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p000_e037/env.mp4 b/episodes/c5_p000_e037/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..58a0c42ea6ea4f61f45e486b48148f1788c05028 --- /dev/null +++ b/episodes/c5_p000_e037/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9409ada4a240b155a7752c41b443c2d3c7c93cb1f26bbe2b8469a921010406c +size 1184938 diff --git a/episodes/c5_p000_e037/meta.json b/episodes/c5_p000_e037/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..66ea2a1630a99aff3a9221ccc61a4e1c5cf8bf9b --- /dev/null +++ b/episodes/c5_p000_e037/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/37", + "fps": 25, + "frames": 1158, + "kept_ticks": "even", + "video_frames": { + "wrist": 1158, + "env": 1158 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e037/scene_snapshot.json b/episodes/c5_p000_e037/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..fa8aab15264b16438bce68131ce962941f5ec1d0 --- /dev/null +++ b/episodes/c5_p000_e037/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 37, + "env_id": 2, + "run_id": "c5_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.700581941573633e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2987944820561875, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.13539776006815182, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2987944820561875, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6534614562988281, + 0.9704551696777344, + 0.8999999761581421 + ], + "ori": [ + 0.5136340260505676, + -5.024201499281844e-08, + -1.1156637214071452e-07, + 0.8580094575881958 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.8338250917793175e-09, + 1.3244325636208032e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -9.129224309845085e-08, + -1.7925793827089365e-07, + 8.156874287124083e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3965559005737305, + 0.8264350891113281, + 0.9000000357627869 + ], + "ori": [ + -0.6708971261978149, + 6.628558679722119e-08, + 2.4849401825122186e-07, + 0.7415504455566406 + ], + "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": [ + -1.399509983457392e-07, + 1.509073399574845e-08, + 4.470348358154297e-08 + ], + "angular_velocity": [ + -4.048051778227091e-07, + -1.7962158835871378e-06, + -1.2864989002991933e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.014354705810546875, + 0.45003795623779297, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.9005199636268344e-09, + 7.457070516636577e-09, + 0.00024103213218040764 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.337411736912486e-09, + -5.4029056784088425e-09, + 0.0 + ], + "angular_velocity": [ + 1.9753287006096798e-07, + -6.31937453476894e-08, + 1.0733507416205157e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.42479705810546875, + 1.1527624130249023, + 0.8999999761581421 + ], + "ori": [ + -0.010200515389442444, + 1.6864244722913924e-10, + 6.103736960305639e-11, + 0.9999479651451111 + ], + "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": [ + -5.533775215837977e-09, + -4.366728312277246e-09, + 3.725290298461914e-08 + ], + "angular_velocity": [ + 2.420827911464585e-07, + -5.082068241790694e-07, + -5.143531112139499e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.6589765548706055, + 0.9756193161010742, + 0.9179999828338623 + ], + "ori": [ + 0.46621400117874146, + -5.867940799930693e-08, + -1.0900459557205977e-07, + 0.8846719264984131 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.2657460352348835e-09, + -7.441937732721726e-09, + 2.086162567138672e-07 + ], + "angular_velocity": [ + 1.7370771274727304e-06, + 1.1578317753446754e-06, + 2.730624615310262e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.4076042175292969, + 0.8174362182617188, + 0.9180000424385071 + ], + "ori": [ + -0.6958282589912415, + 1.2652451459871372e-06, + -1.5163127500272822e-06, + 0.7182082533836365 + ], + "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": [ + -1.0020854460890405e-05, + 7.709473720751703e-06, + -2.7418136596679688e-06 + ], + "angular_velocity": [ + -7.010604167589918e-05, + -0.0002586809278000146, + -5.857133146491833e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.0036401748657226562, + 0.44475460052490234, + 0.9180000424385071 + ], + "ori": [ + 0.9978655576705933, + 2.6142203957135735e-09, + 6.027227605898133e-09, + 0.06530274450778961 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.2079490236137644e-08, + -4.513609397349683e-08, + -5.431473255157471e-06 + ], + "angular_velocity": [ + 1.1477349062261055e-06, + -1.2157521496192203e-06, + 6.268206220738648e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.42133331298828125, + 1.1628055572509766, + 0.9179999828338623 + ], + "ori": [ + -0.023554157465696335, + 8.762292003083871e-10, + -2.136401056063164e-10, + 0.9997226595878601 + ], + "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": [ + 2.617500882706736e-08, + -6.198376922839088e-08, + -1.1995434761047363e-06 + ], + "angular_velocity": [ + 1.5706389149272582e-06, + 2.044100483544753e-06, + -8.792037675675601e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 2.499999999999969, + "step": 500, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 3.700581941573633e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2987944820561875, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 404, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5034614503383636, + 0.5204551815986633, + 0.0 + ], + "carrier_2": [ + -1.546555906534195, + 0.3764351010322571, + 0.0 + ], + "carrier_3": [ + -0.1356453001499176, + 3.796815872192383e-05, + 0.0 + ], + "carrier_4": [ + 0.2747970521450043, + 0.7027624249458313, + 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 + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.46643836167221775, + 0.505490807520514, + 2.8573195294931892 + ], + "ori": [ + -9.167977778408959, + 14.101512426138186, + -5.395445639901851 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6471.820678405973, + "color": [ + 0.8697034742554929, + 0.8217454368303438, + 0.862758195975886 + ], + "intensity": 12434.194192458815, + "width": 1.6399935570966686, + "height": 1.4918696590669143 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.8705474347150163, + 0.963274500887376, + 1.7401562449461934 + ], + "ori": [ + -1.520081201250612, + 23.05491181760827, + -19.007828138249128 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6209.409177356968, + "color": [ + 0.9003817025178277, + 0.8814412100671994, + 0.973858490874121 + ], + "intensity": 6359.580224738506, + "radius": 0.18177769426869422 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 430.8988880488579, + "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 + ], + [ + -0.05863156169652939, + -2.1423888206481934, + 2.3127613067626953, + -1.7418183088302612, + -1.571441888809204, + 4.664243698120117, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141026139259338, + -1.7193979024887085, + 2.090498447418213, + -1.9418998956680298, + -1.5707999467849731, + 2.4849014282226562, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.316908597946167, + -2.3593780994415283, + 2.8093597888946533, + -2.020921468734741, + -1.5698788166046143, + 3.8864214420318604, + 0.007746666204184294, + 0.007167492061853409 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -3.193085547081864e-07, + -6.811853381805122e-06, + -6.8119188654236495e-06, + -6.811950697738212e-06, + 1.0328993519867491e-13, + -1.0481551607557926e-13, + 2.5990562591005073e-08, + -2.5990429364242118e-08 + ], + [ + 5.108952336740913e-06, + -3.4059407880704384e-06, + 4.476702862576953e-12, + 1.0217933777312282e-05, + -3.405977395232185e-06, + 2.0435873011592776e-05, + 2.598983250834408e-08, + -2.599069404141119e-08 + ], + [ + 0.0053655109368264675, + 0.009052945300936699, + -0.002230376470834017, + -0.007825905457139015, + -0.00015085723134689033, + 0.005822696257382631, + -0.007113634143024683, + 0.00031759322155267 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05210353806614876, + 0.001238470897078514, + -0.031941886991262436, + -0.2875571846961975, + 0.6421282291412354, + 0.6536803245544434, + -0.27871885895729065 + ], + [ + 0.05061402544379234, + 0.0011058360105380416, + -0.033081889152526855, + -0.2704204022884369, + 0.6559141874313354, + 0.6468477845191956, + -0.2797093689441681 + ], + [ + 0.053081873804330826, + 0.003045779187232256, + -0.0341159924864769, + -0.2756721079349518, + 0.6531542539596558, + 0.6447126269340515, + -0.28590214252471924 + ], + [ + 0.04679093509912491, + -0.00022342729789670557, + -0.03194987773895264, + -0.29247283935546875, + 0.6443966031074524, + 0.6476132869720459, + -0.2825060784816742 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e037/wrist.mp4 b/episodes/c5_p000_e037/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4ff1e7112200bf52d2024f9dc87375b9f947ad91 --- /dev/null +++ b/episodes/c5_p000_e037/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4eb161f433fd11fbd2634b7ef6903e56d7ad883a1411a7c1fcda349612ba34df +size 6468897 diff --git a/episodes/c5_p000_e038/data.npz b/episodes/c5_p000_e038/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..b26128c579934120d0b8d440f517fe502a930899 --- /dev/null +++ b/episodes/c5_p000_e038/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a15776acb56a8c37883dc18e522457f1cb8607183791c8c25cb8f683f05e4a91 +size 186592 diff --git a/episodes/c5_p000_e038/device_events.jsonl b/episodes/c5_p000_e038/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2625d106667a8ecd624c03737a21e339bdafd49e --- /dev/null +++ b/episodes/c5_p000_e038/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 159, "t": 0.795, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 159, "t": 0.795, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 164, "t": 0.82, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 5822, "t": 29.11, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6436, "t": 32.18, "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": 6436, "t": 32.18, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.7845292943901299}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6436, "t": 32.18, "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": 6436, "t": 32.18, "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": 6436, "t": 32.18, "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": 6855, "t": 34.275, "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": 6855, "t": 34.275, "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": 6855, "t": 34.275, "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": 6855, "t": 34.275, "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": 6855, "t": 34.275, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 6855, "t": 34.275, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 6855, "t": 34.275, "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": 6855, "t": 34.275, "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": 6855, "t": 34.275, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.7845292943901299}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7212, "t": 36.06, "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": 7212, "t": 36.06, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.7850000000009132}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7212, "t": 36.06, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.7850000000009132}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7212, "t": 36.06, "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": 7212, "t": 36.06, "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": 7212, "t": 36.06, "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": 7632, "t": 38.16, "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": 7632, "t": 38.16, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.2063972870967063e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 7632, "t": 38.16, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.2063972870967063e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 7632, "t": 38.16, "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": 7632, "t": 38.16, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 7632, "t": 38.16, "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": 8215, "t": 41.075, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 9988, "t": 49.94, "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": 33, "step": 9988, "t": 49.94, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 9988, "t": 49.94, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 9988, "t": 49.94, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p000_e038/env.mp4 b/episodes/c5_p000_e038/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5d2b118f7ea4d38413777c3a8f6fbe1c10a2a5d6 --- /dev/null +++ b/episodes/c5_p000_e038/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e237dbeb842116adf948f3b33e25b714133d15056b2f326ef785da613236be3e +size 1286676 diff --git a/episodes/c5_p000_e038/meta.json b/episodes/c5_p000_e038/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5d0c2697001a60f3a82405e0b095fb3684d0bbfe --- /dev/null +++ b/episodes/c5_p000_e038/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/38", + "fps": 25, + "frames": 1150, + "kept_ticks": "even", + "video_frames": { + "wrist": 1150, + "env": 1150 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e038/scene_snapshot.json b/episodes/c5_p000_e038/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..60b8f16017921185928465adb524e07f33d8e99d --- /dev/null +++ b/episodes/c5_p000_e038/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 38, + "env_id": 0, + "run_id": "c5_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5240573883056641, + 0.07274436950683594, + 0.8999999761581421 + ], + "ori": [ + -0.6924200057983398, + 0.0, + 0.0, + 0.7214946746826172 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.04625117733748e-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": 0.2543495700978577, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.17417327286419718, + "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": 0.2543495700978577, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0760517120361328, + 1.1465730667114258, + 0.8999999761581421 + ], + "ori": [ + -0.04232243075966835, + -1.3434130607947736e-07, + -5.517082612982449e-08, + 0.9991040229797363 + ], + "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": [ + -6.710093036765841e-10, + -7.994212514184085e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.9040022891658737e-07, + -5.019524706995071e-08, + 9.236896580944176e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6360454559326172, + 0.6033916473388672, + 0.8999999761581421 + ], + "ori": [ + 0.8892737030982971, + 5.0237529691798954e-09, + 1.981011443774605e-08, + 0.45737555623054504 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.108328759995118e-10, + 1.348444689242001e-10, + 0.0 + ], + "angular_velocity": [ + -3.9619330038931366e-08, + -3.8706826188672494e-08, + -6.203570990237495e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.023664474487304688, + 0.44757652282714844, + 0.8999999761581421 + ], + "ori": [ + 0.9999473690986633, + -2.758332229291227e-09, + -1.2121306736112558e-10, + 0.010269382037222385 + ], + "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": [ + -4.1302872233472954e-10, + -7.959185310824068e-09, + 0.0 + ], + "angular_velocity": [ + 2.2705816604684514e-07, + -4.686271992682123e-08, + 3.236085177604764e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3200674057006836, + 1.1524906158447266, + 0.8999999761581421 + ], + "ori": [ + -0.011513125151395798, + -5.1953587265618495e-11, + 1.2458677423055065e-09, + 0.9999337196350098 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.8171262272659305e-09, + -7.930098244735007e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.7536104124360463e-08, + -1.6612666797755082e-07, + -1.86439592653187e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -1.0905475616455078, + 1.15399169921875, + 0.9179999828338623 + ], + "ori": [ + -0.12096548080444336, + -1.3844385193806374e-07, + -4.531693065246145e-08, + 0.9926567077636719 + ], + "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": [ + 5.936777114357028e-08, + -2.5595543462486603e-09, + 1.1175870895385742e-07 + ], + "angular_velocity": [ + 1.61995103553636e-07, + 2.183309561587521e-06, + 3.3692751344460703e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 1.6273412704467773, + 0.6040763854980469, + 0.9180000424385071 + ], + "ori": [ + 0.8660109043121338, + 7.342534136256518e-09, + 2.023273992790564e-08, + 0.50002521276474 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1987545400771182e-09, + -1.4247184765281418e-08, + -5.342066287994385e-06 + ], + "angular_velocity": [ + 1.4320115724331117e-06, + 1.897331003419822e-07, + 2.3862423148557355e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -0.026406288146972656, + 0.43906593322753906, + 0.9180000424385071 + ], + "ori": [ + 0.9963123798370361, + -2.3280666283653773e-09, + 2.4892488070804575e-10, + 0.0858004167675972 + ], + "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": [ + -2.1512297720960305e-08, + -8.484548885689946e-08, + -5.5655837059021e-06 + ], + "angular_velocity": [ + 1.500922962804907e-06, + -1.54950851083413e-06, + 1.5714503476260688e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.33313846588134766, + 1.1474380493164062, + 0.9179999828338623 + ], + "ori": [ + -0.0024285628460347652, + -1.022191775668091e-10, + 2.458772963009892e-09, + 0.999997079372406 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2099623525330117e-08, + 3.390890768173449e-08, + -1.1436641216278076e-06 + ], + "angular_velocity": [ + -2.435868054817547e-06, + 1.6677836356393527e-06, + -9.21279479371151e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 4.119999999999934, + "step": 824, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.04625117733748e-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": 0.2543495700978577, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 664, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.2260517179965973, + 0.6965730786323547, + 0.0 + ], + "carrier_2": [ + 1.4860454499721527, + 0.15339165925979614, + 0.0 + ], + "carrier_3": [ + -0.17366448044776917, + -0.0024234652519226074, + 0.0 + ], + "carrier_4": [ + 0.17006739974021912, + 0.7024906277656555, + 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": [ + 0.7639458128843312, + -0.24856520121921005, + 3.1097328866955243 + ], + "ori": [ + 8.44047524734383, + -8.902031660422969, + 2.482370129244295 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7074.657422281092, + "color": [ + 0.9291786076319071, + 0.9464835816776389, + 0.8113478293116874 + ], + "intensity": 10674.628927876798, + "width": 1.807153068218, + "height": 1.6851749106370053 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.7515344051140747, + -0.5487049321761517, + 1.8770736485610213 + ], + "ori": [ + 22.282916580277778, + -8.030377468308856, + -29.150705717609746 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4636.10910339642, + "color": [ + 0.8290643116911972, + 0.9235628409896139, + 0.8966668338234993 + ], + "intensity": 3338.6890284224955, + "radius": 0.45053377345707124 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 430.8988880488579, + "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 + ], + [ + -0.058177120983600616, + -2.032914400100708, + 2.4909579753875732, + -2.0288095474243164, + -1.570801019668579, + 4.664528846740723, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.993475079536438, + -1.315103530883789, + 2.1654176712036133, + -2.4210681915283203, + -1.5707963705062866, + 2.4337010383605957, + 0.018000051379203796, + 0.01799994707107544 + ], + [ + 2.7417080402374268, + -1.5460894107818604, + 2.399216890335083, + -2.4244179725646973, + -1.5700641870498657, + 4.311234951019287, + 0.007777535356581211, + 0.007134200073778629 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -0.00016625909483991563, + 0.011382296681404114, + 0.016431082040071487, + -0.02696051634848118, + -1.1344060339979478e-06, + -9.528251393930987e-05, + 5.153639222044148e-07, + -5.15357328367827e-07 + ], + [ + -0.00012530002277344465, + 0.017685336992144585, + 0.007022850215435028, + -0.023426122963428497, + -7.436568012053613e-06, + -2.0927980585838668e-05, + -7.58101441533654e-06, + 7.5824500527232885e-06 + ], + [ + 0.009274264797568321, + 0.021812643855810165, + -0.022916054353117943, + 0.0002510376216378063, + -0.00022295807139016688, + 0.009908992797136307, + -0.007854308001697063, + 0.0003356167289894074 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05422429367899895, + 0.0018691436853259802, + -0.03056330792605877, + -0.28908082842826843, + 0.6389345526695251, + 0.6572946906089783, + -0.275968462228775 + ], + [ + 0.05064311623573303, + -0.0020258910953998566, + -0.03468698635697365, + -0.2671360969543457, + 0.6561279892921448, + 0.644965410232544, + -0.2866251766681671 + ], + [ + 0.053188346326351166, + 0.0027952450327575207, + -0.029775071889162064, + -0.2761268615722656, + 0.6575406789779663, + 0.6409600377082825, + -0.28383868932724 + ], + [ + 0.04750066250562668, + -0.0006555719883181155, + -0.031152956187725067, + -0.2980476915836334, + 0.6400579214096069, + 0.650937557220459, + -0.27887943387031555 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e038/wrist.mp4 b/episodes/c5_p000_e038/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bfdf210e314289fc9becc20ca93af80c3d1b11c2 --- /dev/null +++ b/episodes/c5_p000_e038/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5752fb11dfebad0be88d7a8b612bb082b8cef6e63110645c54075459e58ef50 +size 7478921 diff --git a/episodes/c5_p000_e039/data.npz b/episodes/c5_p000_e039/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..a661bab7168c411035b165298f59caa73c3243c6 --- /dev/null +++ b/episodes/c5_p000_e039/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0aba6de2781438de1bdae308f3119f28e9d41bec76e74f19790334c047c0d392 +size 203647 diff --git a/episodes/c5_p000_e039/device_events.jsonl b/episodes/c5_p000_e039/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6cc3be0032ad1d12f6d4da405f5f5b7d74c41259 --- /dev/null +++ b/episodes/c5_p000_e039/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 38, "t": 0.19, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 38, "t": 0.19, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 43, "t": 0.215, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1071, "t": 5.355, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 5978, "t": 29.89, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 6588, "t": 32.94, "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": 6588, "t": 32.94, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.9415604311359136}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 6588, "t": 32.94, "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": 6588, "t": 32.94, "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": 6588, "t": 32.94, "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": 7007, "t": 35.035, "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": 7007, "t": 35.035, "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": 7007, "t": 35.035, "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": 7007, "t": 35.035, "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": 7007, "t": 35.035, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7007, "t": 35.035, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 7007, "t": 35.035, "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": 7007, "t": 35.035, "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": 7007, "t": 35.035, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.9415604311359136}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 7596, "t": 37.98, "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": 7596, "t": 37.98, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.9450000000015066}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7596, "t": 37.98, "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": 2.9450000000015066}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 7596, "t": 37.98, "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": 7596, "t": 37.98, "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": 7596, "t": 37.98, "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": 8016, "t": 40.08, "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": 8016, "t": 40.08, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.1299067459447087e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8016, "t": 40.08, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.1299067459447087e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8016, "t": 40.08, "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": 8016, "t": 40.08, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 8016, "t": 40.08, "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": 8595, "t": 42.975, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 33, "step": 10824, "t": 54.12, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10824, "t": 54.12, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"} +{"env_id": 1, "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": 1, "seq": 36, "step": 10824, "t": 54.12, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p000_e039/env.mp4 b/episodes/c5_p000_e039/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..411f9007dee26b8e799a994b97de7f5f0ed45880 --- /dev/null +++ b/episodes/c5_p000_e039/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0112e84084120cf1e020dc0ff37401d3d818649b9e2b894b998f3c7beafbe101 +size 1476396 diff --git a/episodes/c5_p000_e039/meta.json b/episodes/c5_p000_e039/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aa0f75c521bd17f3c9bd16c64d0fee5acb710685 --- /dev/null +++ b/episodes/c5_p000_e039/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p000/magicsim/39", + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p000_e039/scene_snapshot.json b/episodes/c5_p000_e039/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..b1cf1e5937a3c02d2cf6d45ee02863342d9305bc --- /dev/null +++ b/episodes/c5_p000_e039/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 39, + "env_id": 1, + "run_id": "c5_p000", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5098752975463867, + 0.08571529388427734, + 0.8999999761581421 + ], + "ori": [ + 0.7111824154853821, + 0.0, + 0.0, + -0.7030075192451477 + ], + "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": [ + 4.373412656327735e-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": 0.2779365574573408, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.20148620730101252, + "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": 0.2779365574573408, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3798551559448242, + 0.6867475509643555, + 0.8999999761581421 + ], + "ori": [ + -0.8120452761650085, + -1.836036034319477e-08, + -4.7708926587120004e-08, + 0.5835944414138794 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.4611709881792194e-09, + 4.213879023495792e-09, + -4.842877388000488e-08 + ], + "angular_velocity": [ + -4.6712489165656734e-07, + -2.48644653311203e-07, + 3.426774242143438e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.16457462310791016, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + 6.1754140006087255e-06, + 3.3893314821398235e-08, + 9.219159657902765e-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": [ + -1.4663412706283907e-09, + -1.6086223464384375e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 8.556508390711315e-08, + -1.2681503847034037e-07, + -1.6829902804715857e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.2713947296142578, + 0.44989871978759766, + 0.8999999761581421 + ], + "ori": [ + 0.9999997615814209, + 3.9556123709871827e-08, + 4.1597900235501584e-08, + -0.0007310342043638229 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.140675109922995e-09, + 2.5468467335088008e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.1324645160802902e-08, + 7.36248608745882e-08, + -1.8022248582383327e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.05192279815673828, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 8.394965611557836e-09, + 7.442486071873589e-10, + -4.5957465772517025e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.5034721790339063e-09, + 7.125396384033422e-10, + 2.60770320892334e-08 + ], + "angular_velocity": [ + -3.884572308265888e-08, + 3.426582679821877e-07, + -1.2250536585156624e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.3764257431030273, + 0.698573112487793, + 0.9179999828338623 + ], + "ori": [ + -0.8361622095108032, + 1.7142487251931016e-07, + -2.4776852569630137e-08, + 0.5484822392463684 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.3621778382221237e-06, + -5.241492544882931e-06, + -6.780028343200684e-07 + ], + "angular_velocity": [ + 2.2986158001003787e-05, + -8.335321035701782e-05, + -4.5982073061168194e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.17396163940429688, + 1.1552190780639648, + 0.9180000424385071 + ], + "ori": [ + 0.09823397547006607, + 3.358053390911664e-08, + 1.1860211479586269e-08, + 0.9951634407043457 + ], + "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": [ + 6.9841679106730226e-09, + -2.002875909568047e-08, + -5.1781535148620605e-06 + ], + "angular_velocity": [ + 3.3900710150192026e-07, + 1.7036188637575833e-06, + 1.89047710819068e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.2679681777954102, + 0.4447355270385742, + 0.9179999828338623 + ], + "ori": [ + 0.9993385672569275, + 4.109712392619258e-08, + 4.290426502961964e-08, + -0.036366868764162064 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.701001448699117e-09, + 3.400587544888367e-08, + -5.7220458984375e-06 + ], + "angular_velocity": [ + -7.424424097735027e-07, + -1.4872994142933749e-06, + -1.0573619135811896e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -0.041812896728515625, + 0.45484352111816406, + 0.9179999828338623 + ], + "ori": [ + 0.9993627667427063, + 5.093503396835786e-09, + -9.949610024762023e-10, + 0.03569411113858223 + ], + "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": [ + -3.5862068870073927e-08, + -3.3157064649458334e-08, + 2.1979212760925293e-07 + ], + "angular_velocity": [ + 1.7159995877591427e-06, + -2.426927039778093e-06, + -2.5642631129585425e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 3.3199999999999514, + "step": 664, + "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": 4.373412656327735e-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": 0.2779365574573408, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 625, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5298551619052887, + 0.23674756288528442, + 0.0 + ], + "carrier_2": [ + 0.014574617147445679, + 0.6999996304512024, + 0.0 + ], + "carrier_3": [ + 1.1213947236537933, + -0.00010126829147338867, + 0.0 + ], + "carrier_4": [ + -0.20192280411720276, + -1.7881393432617188e-07, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.33608394382409607, + 0.46007372322502726, + 3.138819401788253 + ], + "ori": [ + -8.128824934882424, + -8.08835972076452, + 22.194316344648904 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4361.093092490981, + "color": [ + 0.8709041232536381, + 0.830008140715647, + 0.7807623247640251 + ], + "intensity": 8672.579341053639, + "width": 2.2500318516483278, + "height": 1.625969976986879 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.04659457202721784, + -0.2044410716397812, + 2.234747477227556 + ], + "ori": [ + 28.588202910798145, + 10.998794331768522, + -8.415156414631227 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6422.508327512827, + "color": [ + 0.9358295709124114, + 0.7593765221188206, + 0.916595830707164 + ], + "intensity": 3580.5960189188536, + "radius": 0.1761270480493186 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 430.8988880488579, + "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": [ + [ + 2.5677309036254883, + -2.1704909801483154, + 2.2113964557647705, + -1.6116684675216675, + -1.5700831413269043, + 4.129262924194336, + 0.01800016686320305, + 0.017999831587076187 + ], + [ + 0.9141006469726562, + -1.719398021697998, + 2.0904994010925293, + -1.9419004917144775, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 2.736659049987793, + -1.8076413869857788, + 2.2020413875579834, + -1.9651800394058228, + -1.570794939994812, + 4.30729866027832, + 0.017999986186623573, + 0.018000012263655663 + ], + [ + 1.0301082134246826, + -2.1167948246002197, + 2.5863778591156006, + -2.0407187938690186, + -1.5711957216262817, + 4.314563751220703, + 0.008316761814057827, + 0.006682002916932106 + ] + ], + "joint_vel": [ + [ + 0.01827322505414486, + 0.03334531560540199, + -0.013035345822572708, + -0.019451620057225227, + -0.00011138487025164068, + 0.01701696217060089, + 8.864438314049039e-06, + -8.863245057000313e-06 + ], + [ + 0.0, + -2.684201781918216e-38, + -1.506988318139895e-38, + -2.393014203109062e-37, + 2.3824389959623726e-37, + 3.6112282026031245e-37, + -2.6631766997594865e-38, + -3.324469623772254e-38 + ], + [ + 0.008346952497959137, + 0.022856954485177994, + -0.016195598989725113, + -0.006204444449394941, + 9.747414878802374e-06, + 0.00847439281642437, + 3.207815552741522e-06, + -3.207707322872011e-06 + ], + [ + -0.07297585904598236, + -0.006023646332323551, + -0.0032511393073946238, + 0.01401850301772356, + 0.001139117986895144, + 0.007269598543643951, + -0.0065620155073702335, + -6.760987162124366e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.048597000539302826, + 0.0037376037798821926, + -0.03341684862971306, + -0.2882290482521057, + 0.637917697429657, + 0.6559984087944031, + -0.2822253108024597 + ], + [ + 0.049052827060222626, + -9.306125866714865e-05, + -0.0334218330681324, + -0.2753085196018219, + 0.6496850848197937, + 0.6503269672393799, + -0.2814059555530548 + ], + [ + 0.05292829871177673, + 0.0035749878734350204, + -0.03325565159320831, + -0.2734055817127228, + 0.6534780859947205, + 0.6433769464492798, + -0.2903134524822235 + ], + [ + 0.04680543392896652, + 6.92748581059277e-05, + -0.03272068127989769, + -0.2950681746006012, + 0.6398885846138, + 0.6511223316192627, + -0.2819877564907074 + ] + ], + "camera1": [ + [ + 0.04742719978094101, + 0.6044167876243591, + 1.932394027709961, + 0.027882859110832214, + 0.0035898967180401087, + 0.2583003640174866, + 0.965655505657196 + ], + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p000_e039/wrist.mp4 b/episodes/c5_p000_e039/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..27fb905cc95a0f4a85820ad6d75cbd0f230521e3 --- /dev/null +++ b/episodes/c5_p000_e039/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58bef2a8d98e1b529203d68ba2653f2f15d2733ce780828006c5275c25596294 +size 6758759 diff --git a/episodes/c5_p001_e000/data.npz b/episodes/c5_p001_e000/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..4342dc984c193d3f59dc24fff2ef32f5d9b7dde2 --- /dev/null +++ b/episodes/c5_p001_e000/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4572049c0de944f59ee6343ced049a32c5871c74a40ba9c1d9a38c1e575cfef +size 187283 diff --git a/episodes/c5_p001_e000/device_events.jsonl b/episodes/c5_p001_e000/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..29b29b25346fb48fbcac286254d0d3cf7d689101 --- /dev/null +++ b/episodes/c5_p001_e000/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 105, "t": 0.525, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 105, "t": 0.525, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 110, "t": 0.55, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6087, "t": 30.435, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6700, "t": 33.5, "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": 6700, "t": 33.5, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.7297054507059406}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6700, "t": 33.5, "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": 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": 0, "seq": 9, "step": 6700, "t": 33.5, "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": 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": 0, "seq": 11, "step": 7119, "t": 35.595, "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": 7119, "t": 35.595, "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": 7119, "t": 35.595, "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": 7119, "t": 35.595, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7119, "t": 35.595, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7119, "t": 35.595, "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": 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": 0, "seq": 18, "step": 7119, "t": 35.595, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.7297054507059406}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7465, "t": 37.325, "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": 7465, "t": 37.325, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.730000000000885}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7465, "t": 37.325, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.730000000000885}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7465, "t": 37.325, "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": 7465, "t": 37.325, "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": 7465, "t": 37.325, "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": 7885, "t": 39.425, "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": 7885, "t": 39.425, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.757385069746988e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 7885, "t": 39.425, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.757385069746988e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 7885, "t": 39.425, "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": 7885, "t": 39.425, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 7885, "t": 39.425, "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": 8463, "t": 42.315, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 10156, "t": 50.78, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 33, "step": 10156, "t": 50.78, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 10156, "t": 50.78, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10156, "t": 50.78, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p001_e000/env.mp4 b/episodes/c5_p001_e000/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c52a9f67e982c9b87319e0d3b30c69b5151b201a --- /dev/null +++ b/episodes/c5_p001_e000/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f071e5c82d7b6680903c9b95ba8632df39003ee2aa37972e768b56c2336b3da +size 1364854 diff --git a/episodes/c5_p001_e000/meta.json b/episodes/c5_p001_e000/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..755707ef666e4f4c3fded98ae84c2e602e57b2e9 --- /dev/null +++ b/episodes/c5_p001_e000/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/0", + "fps": 25, + "frames": 1204, + "kept_ticks": "even", + "video_frames": { + "wrist": 1204, + "env": 1204 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e000/scene_snapshot.json b/episodes/c5_p001_e000/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..79945b416b00877f80c7a15fd03c13130a5f5c56 --- /dev/null +++ b/episodes/c5_p001_e000/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "c5_p001", + "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_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5098752975463867, + 0.08571529388427734, + 0.8999999761581421 + ], + "ori": [ + 0.7111824154853821, + 0.0, + 0.0, + -0.7030075192451477 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.719085361538534e-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": 0.2711316999588719, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.0009744010278136539, + "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": 0.2711316999588719, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.43708229064941406, + 1.1499481201171875, + 0.8999999761581421 + ], + "ori": [ + 0.000470308237709105, + 7.076064179045716e-09, + 2.422911205002265e-09, + 0.9999998807907104 + ], + "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": [ + -2.139389332356245e-09, + -1.5243269979592355e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 8.717663035895384e-08, + -1.9723697164408804e-07, + -1.590773024418013e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6801080703735352, + 0.6920146942138672, + 0.8999999761581421 + ], + "ori": [ + 0.8152018189430237, + -6.063620716645346e-09, + 9.863716599056715e-08, + 0.5791770219802856 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.834623640841528e-08, + 1.09535913672687e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 4.736416485684458e-07, + 4.874491423834115e-07, + -5.644453153763607e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.14873218536376953, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -5.360359711659157e-09, + -6.480830871957721e-10, + 2.593300087028183e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.21235685221788e-10, + 7.075798280631318e-10, + 0.0 + ], + "angular_velocity": [ + -1.053110878501684e-07, + 2.5748391863089637e-08, + -9.224409680541612e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1602659225463867, + 1.1285877227783203, + 0.8999999761581421 + ], + "ori": [ + -0.15241166949272156, + 7.936379375905744e-08, + 7.18403825317182e-08, + 0.9883171319961548 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.947513705857773e-09, + -4.024679256531272e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 6.552262732384406e-08, + 1.5514265783167502e-07, + 1.770330548822585e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.433685302734375, + 1.1554880142211914, + 0.9179999828338623 + ], + "ori": [ + 0.00432145781815052, + 5.061541408224457e-09, + 1.8219095121452256e-09, + 0.999990701675415 + ], + "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": [ + 1.5053750246352138e-08, + -7.714787031432024e-09, + 1.6763806343078613e-07 + ], + "angular_velocity": [ + 1.558598228257324e-08, + 1.8776293018163415e-06, + -2.5491079469475153e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 1.6815252304077148, + 0.7059917449951172, + 0.9180000424385071 + ], + "ori": [ + 0.7549505233764648, + -3.028346213795885e-07, + -9.521662747147275e-08, + 0.6557818055152893 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.229340786172543e-06, + -3.1246859180100728e-06, + -6.195157766342163e-06 + ], + "angular_velocity": [ + 5.340148345567286e-05, + 0.00021151473629288375, + -2.6596191673888825e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.1371021270751953, + 0.45206260681152344, + 0.9180000424385071 + ], + "ori": [ + 0.9957122206687927, + -5.201887809391792e-09, + -6.18631090798516e-10, + 0.09250620007514954 + ], + "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": [ + -2.0248167587055832e-08, + 3.8187941697742644e-09, + -5.826354026794434e-06 + ], + "angular_velocity": [ + 4.442946419658256e-07, + -1.3673402463609818e-06, + 1.3167606027764123e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.167851448059082, + 1.1247224807739258, + 0.9179999828338623 + ], + "ori": [ + -0.13732190430164337, + 7.820886338549826e-08, + 7.713003213893899e-08, + 0.9905264973640442 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4262687386690232e-07, + 5.721631879396227e-08, + -1.173466444015503e-06 + ], + "angular_velocity": [ + -1.6989436062431196e-06, + 3.966387339460198e-06, + 3.2867967547645094e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 2.7999999999999625, + "step": 560, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.719085361538534e-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": 0.2711316999588719, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 454, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.2870822846889496, + 0.6999481320381165, + 0.0 + ], + "carrier_2": [ + 1.5301080644130707, + 0.24201470613479614, + 0.0 + ], + "carrier_3": [ + -0.0012678205966949463, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_4": [ + -1.3102659285068512, + 0.6785877346992493, + 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": [ + 0.2093440210813201, + 0.5405589569553344, + 2.734917132499536 + ], + "ori": [ + 9.694307899773154, + 12.029610166625613, + -20.094670940203102 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3404.3892481165917, + "color": [ + 0.9482335853809699, + 0.8429552801565395, + 0.8639075525260419 + ], + "intensity": 9582.989427024415, + "width": 2.4397998248804695, + "height": 1.222612913208629 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.3727506395967468, + 0.4671220695238767, + 2.5804100391937768 + ], + "ori": [ + 9.061426156630958, + -27.098533284522375, + -16.357470416608617 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4644.626824743661, + "color": [ + 0.9498777368939083, + 0.8889898853836526, + 0.9301322243475256 + ], + "intensity": 5000.59544479203, + "radius": 0.23649919215458065 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1062.812266262882, + "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 + ], + [ + 0.9129080772399902, + -1.7168290615081787, + 2.0895676612854004, + -1.9435309171676636, + -1.5708001852035522, + 2.4841256141662598, + 0.018000181764364243, + 0.017999816685914993 + ], + [ + 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 + ], + [ + -0.0027275788597762585, + 0.0058596194721758366, + -0.002005823189392686, + -0.0035383980721235275, + -5.087550107418792e-06, + -0.0016745519824326038, + 9.008663255372085e-06, + -9.007323569676373e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04959527775645256, + -0.0015831419732421637, + -0.032708413898944855, + -0.2650853395462036, + 0.6567990183830261, + 0.649441123008728, + -0.2767148017883301 + ], + [ + 0.05464518815279007, + 0.001997832441702485, + -0.030973436310887337, + -0.27689647674560547, + 0.6559175252914429, + 0.641461968421936, + -0.2857045531272888 + ], + [ + 0.04749515652656555, + -0.002137155970558524, + -0.0323469415307045, + -0.29747137427330017, + 0.6431626081466675, + 0.6468856334686279, + -0.2817651331424713 + ], + [ + 0.051151152700185776, + 0.0030551764648407698, + -0.031860362738370895, + -0.2832525968551636, + 0.6385484337806702, + 0.6617497801780701, + -0.2722335457801819 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e000/wrist.mp4 b/episodes/c5_p001_e000/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..76d16a78485bc5685851158956dd2f383185e51c --- /dev/null +++ b/episodes/c5_p001_e000/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c55eb1d352a5bfc0e909e64745e154a217d49e1b3cf10e7276ef3b4b4d3bb276 +size 8685450 diff --git a/episodes/c5_p001_e001/data.npz b/episodes/c5_p001_e001/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..c9b02a0aa312daa54544d03704a663565f77700c --- /dev/null +++ b/episodes/c5_p001_e001/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:213501bae146abfec0dbffa8bea128b630a102366b2ff557f008ee1fcd479e00 +size 189642 diff --git a/episodes/c5_p001_e001/device_events.jsonl b/episodes/c5_p001_e001/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1fc71a77a799701e660f826b847a4e5e0a69065f --- /dev/null +++ b/episodes/c5_p001_e001/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 132, "t": 0.66, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 132, "t": 0.66, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 137, "t": 0.685, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6039, "t": 30.195, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6652, "t": 33.26, "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": 6652, "t": 33.26, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.087613843284525}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6652, "t": 33.26, "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": 6652, "t": 33.26, "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": 6652, "t": 33.26, "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": 7071, "t": 35.355, "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": 7071, "t": 35.355, "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": 7071, "t": 35.355, "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": 7071, "t": 35.355, "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": 7071, "t": 35.355, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7071, "t": 35.355, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7071, "t": 35.355, "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": 7071, "t": 35.355, "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": 7071, "t": 35.355, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.087613843284525}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7689, "t": 38.445, "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": 7689, "t": 38.445, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.090000000001581}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7689, "t": 38.445, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.090000000001581}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7689, "t": 38.445, "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": 7689, "t": 38.445, "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": 7689, "t": 38.445, "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": 8109, "t": 40.545, "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": 8109, "t": 40.545, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.1843542813139152e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8109, "t": 40.545, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.1843542813139152e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8109, "t": 40.545, "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": 8109, "t": 40.545, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8109, "t": 40.545, "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": 8692, "t": 43.46, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10412, "t": 52.06, "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": 10412, "t": 52.06, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10412, "t": 52.06, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10412, "t": 52.06, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p001_e001/env.mp4 b/episodes/c5_p001_e001/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1991d87a9eb3178ea54614285ce2de4aa464bdd5 --- /dev/null +++ b/episodes/c5_p001_e001/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a0a51e5b72b7c25e1843cebac0215490eb1cbf4cf1ee4fe9caf105d0c72f54e +size 1274225 diff --git a/episodes/c5_p001_e001/meta.json b/episodes/c5_p001_e001/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1bfff8dc90a63fbfdae921d382a2d21a4cdceeb6 --- /dev/null +++ b/episodes/c5_p001_e001/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/1", + "fps": 25, + "frames": 1201, + "kept_ticks": "even", + "video_frames": { + "wrist": 1201, + "env": 1201 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e001/scene_snapshot.json b/episodes/c5_p001_e001/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..43701ec5e752a5b1e03b03e1fd21e4717af5df17 --- /dev/null +++ b/episodes/c5_p001_e001/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 1, + "env_id": 1, + "run_id": "c5_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.018499083156211e-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": 0.15762390198698684, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.0352616599437926, + "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": 0.15762390198698684, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.11520957946777344, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -3.867194342532798e-10, + -3.936368564438908e-09, + -2.3838449124014005e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9947121732144524e-10, + 3.390308866979552e-11, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 3.90562391316962e-08, + 2.2821879497314512e-08, + -1.3983794566740926e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5254440307617188, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + -1.6309511920553632e-05, + 9.788694654844221e-08, + -8.904681436661122e-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": [ + -1.5813760967375856e-08, + 6.683154651909717e-08, + 5.587935447692871e-08 + ], + "angular_velocity": [ + -2.0125678474869346e-06, + -1.3424312328425003e-07, + -1.0520733439989272e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3416738510131836, + 0.6082839965820312, + 0.8999999761581421 + ], + "ori": [ + -0.8797367811203003, + 2.825988758559106e-07, + -1.5493850469283643e-07, + 0.4754611849784851 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.3493740286539833e-08, + -8.399702267070097e-09, + 0.0 + ], + "angular_velocity": [ + 6.299133019638248e-07, + -1.448291186534334e-06, + -8.138579232763732e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.651437759399414, + 0.9759159088134766, + 0.8999999761581421 + ], + "ori": [ + 0.4986284375190735, + 1.5060455993420874e-08, + -1.5665321484448214e-08, + 0.8668158054351807 + ], + "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": [ + 8.775966620078179e-10, + 6.711670108572321e-11, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -9.273900758444142e-09, + 1.774631641637825e-08, + -9.510132237267044e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.10924911499023438, + 0.4601869583129883, + 0.9179999828338623 + ], + "ori": [ + 0.9990702867507935, + 5.777356926195409e-10, + -6.270294061749837e-09, + -0.043111033737659454 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3383267827293821e-08, + -1.5088732041590447e-08, + 1.4901161193847656e-07 + ], + "angular_velocity": [ + 1.1977588201261824e-06, + -1.9442595657892525e-06, + -4.86356874773719e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.5137414932250977, + 1.1525545120239258, + 0.9180000424385071 + ], + "ori": [ + -0.046661749482154846, + 1.5916280915462266e-07, + -2.81577143823597e-07, + 0.9989108443260193 + ], + "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": [ + -1.898810978673282e-06, + -1.735054979690176e-07, + -5.237758159637451e-06 + ], + "angular_velocity": [ + -0.00014649609511252493, + -3.1940660846885294e-05, + -1.46592064993456e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.341639518737793, + 0.5936031341552734, + 0.9179999828338623 + ], + "ori": [ + -0.8713138103485107, + 5.13541237978643e-07, + -2.645012102675537e-07, + 0.49072617292404175 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.1281834960973356e-06, + -3.556758201739285e-06, + -6.645917892456055e-06 + ], + "angular_velocity": [ + 0.00010333295358577743, + -0.00016731934738345444, + -3.3421900297980756e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.6668996810913086, + 0.96978759765625, + 0.9179999828338623 + ], + "ori": [ + 0.575108528137207, + 1.0912652115280252e-08, + -1.632295010267626e-08, + 0.8180772662162781 + ], + "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": [ + 1.1712780079164986e-08, + -5.961615556770994e-08, + -9.927898645401001e-06 + ], + "angular_velocity": [ + 2.002093879127642e-06, + 6.242365770958713e-07, + 8.885336910680053e-10 + ] + } + } + ], + "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": 4.2999999999999305, + "step": 860, + "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": 2.018499083156211e-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": 0.15762390198698684, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 727, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.03479042649269104, + 7.748603820800781e-07, + 0.0 + ], + "carrier_2": [ + 0.3754440248012543, + 0.6999977231025696, + 0.0 + ], + "carrier_3": [ + -1.491673856973648, + 0.1582840085029602, + 0.0 + ], + "carrier_4": [ + 1.5014377534389496, + 0.5259159207344055, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.7277507870850263, + 0.5419221938788885, + 3.074608495635918 + ], + "ori": [ + -9.928418073976127, + -12.110181507718101, + 4.340406129781989 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3216.754173088947, + "color": [ + 0.9282071898069005, + 0.8758187256003003, + 0.9922465673025085 + ], + "intensity": 5271.674772855219, + "width": 1.6648178863007295, + "height": 0.9654557603243041 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.3189072621519737, + 1.1262001254159182, + 2.7131106048811064 + ], + "ori": [ + 5.711207544917542, + -25.46119873339901, + 17.71109595080992 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4106.338044999294, + "color": [ + 0.9249694833520226, + 0.8421922914646806, + 0.9140421106310608 + ], + "intensity": 8978.156921553556, + "radius": 0.1655010564372048 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1062.812266262882, + "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": [ + [ + 0.8049226403236389, + -1.257833480834961, + 1.9405251741409302, + -2.253441095352173, + -1.5707963705062866, + 2.190680503845215, + 0.01800004206597805, + 0.017999956384301186 + ], + [ + 0.9141010642051697, + -1.719397783279419, + 2.09049916267395, + -1.9419004917144775, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.7636446356773376, + -1.289165735244751, + 2.0461764335632324, + -2.3277621269226074, + -1.570796012878418, + 2.3868026733398438, + 0.018000047653913498, + 0.017999952659010887 + ], + [ + 0.9141013622283936, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -0.00013814867998007685, + 0.013387266546487808, + 0.008326281793415546, + -0.020298996940255165, + -9.427602890355047e-06, + -4.125283157918602e-05, + -5.84350163990166e-06, + 5.844460247317329e-06 + ], + [ + 2.3021862405469203e-38, + -1.9620815744257298e-38, + 1.2895017518022117e-38, + -5.7362235594005475e-37, + 5.7705246553141675e-37, + -2.980420941466089e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + -0.0001742461317917332, + 0.015182764269411564, + 0.007735411636531353, + -0.02155900187790394, + -7.402034043479944e-06, + -2.090015186695382e-05, + -7.09308915247675e-06, + 7.068575087032514e-06 + ], + [ + -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": [ + [ + 0.05035404860973358, + -0.00011819695646408945, + -0.031689319759607315, + -0.27078086137771606, + 0.6534831523895264, + 0.6487454175949097, + -0.2806544601917267 + ], + [ + 0.05511540174484253, + 0.0025463481433689594, + -0.03146272152662277, + -0.2741906940937042, + 0.6593534350395203, + 0.6403311491012573, + -0.28292855620384216 + ], + [ + 0.04939184710383415, + -0.0009741421672515571, + -0.03095574490725994, + -0.2927815318107605, + 0.641917884349823, + 0.6499676704406738, + -0.28242239356040955 + ], + [ + 0.052905142307281494, + 0.001557524548843503, + -0.03226521238684654, + -0.28430914878845215, + 0.6442885994911194, + 0.6581904292106628, + -0.26616889238357544 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e001/wrist.mp4 b/episodes/c5_p001_e001/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..744b85778d1a271dbd2bec7dad0c7d3066a27500 --- /dev/null +++ b/episodes/c5_p001_e001/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9d44cb4569f333d9e4240b68f117fc1e6417d15b8395593b9632926692c4b0a +size 6902984 diff --git a/episodes/c5_p001_e002/data.npz b/episodes/c5_p001_e002/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..d10f0bf44652764f7609a7754e0d95caf50a1817 --- /dev/null +++ b/episodes/c5_p001_e002/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ba797b31f4f11cb9f2e43c749f0d18164df9a9f7eab9564b96bb8999fdf1d9f +size 191916 diff --git a/episodes/c5_p001_e002/device_events.jsonl b/episodes/c5_p001_e002/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b04db230a35a462b9f28fe5981cfff124a1d91cd --- /dev/null +++ b/episodes/c5_p001_e002/device_events.jsonl @@ -0,0 +1,38 @@ +{"env_id": 2, "seq": 1, "step": 241, "t": 1.205, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 241, "t": 1.205, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 246, "t": 1.23, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 986, "t": 4.93, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 1064, "t": 5.32, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 1153, "t": 5.765, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 5963, "t": 29.815, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 8, "step": 6576, "t": 32.88, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 9, "step": 6576, "t": 32.88, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.569121697502855}, "cause": "task-2-1"} +{"env_id": 2, "seq": 10, "step": 6576, "t": 32.88, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 11, "step": 6576, "t": 32.88, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 6576, "t": 32.88, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 6995, "t": 34.975, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 14, "step": 6995, "t": 34.975, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 6995, "t": 34.975, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 16, "step": 6995, "t": 34.975, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 17, "step": 6995, "t": 34.975, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 18, "step": 6995, "t": 34.975, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 19, "step": 6995, "t": 34.975, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 6995, "t": 34.975, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 21, "step": 6995, "t": 34.975, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.569121697502855}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7909, "t": 39.545, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 23, "step": 7909, "t": 39.545, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.570000000002338}, "cause": "program-2-3"} +{"env_id": 2, "seq": 24, "step": 7909, "t": 39.545, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.570000000002338}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 25, "step": 7909, "t": 39.545, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 26, "step": 7909, "t": 39.545, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 27, "step": 7909, "t": 39.545, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8329, "t": 41.645, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 29, "step": 8329, "t": 41.645, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 8329, "t": 41.645, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 31, "step": 8329, "t": 41.645, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 32, "step": 8329, "t": 41.645, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 33, "step": 8329, "t": 41.645, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 34, "step": 8911, "t": 44.555, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10568, "t": 52.84, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 36, "step": 10568, "t": 52.84, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 37, "step": 10568, "t": 52.84, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 38, "step": 10568, "t": 52.84, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p001_e002/env.mp4 b/episodes/c5_p001_e002/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..18cb8c9f15710148e7a2c2c88fc8b931efa7b4ee --- /dev/null +++ b/episodes/c5_p001_e002/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5faecc7c7eb8a66def42b3c784a570bda47b43293580536e3ae5d5d105f4c91 +size 1382881 diff --git a/episodes/c5_p001_e002/meta.json b/episodes/c5_p001_e002/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..394b56f04e6d5063db5462ff0155a2eb0920c6b9 --- /dev/null +++ b/episodes/c5_p001_e002/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/2", + "fps": 25, + "frames": 1260, + "kept_ticks": "even", + "video_frames": { + "wrist": 1260, + "env": 1260 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e002/scene_snapshot.json b/episodes/c5_p001_e002/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..cc8f1e180bf563934db3188b88b39c2662332695 --- /dev/null +++ b/episodes/c5_p001_e002/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 2, + "env_id": 2, + "run_id": "c5_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.018499083156211e-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": 0.15096005178906094, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.01749058120737118, + "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": 0.15096005178906094, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2239418029785156, + 0.4983654022216797, + 0.8999999761581421 + ], + "ori": [ + -0.9665380716323853, + -3.252836222600308e-08, + -3.3671476273866574e-08, + 0.2565233111381531 + ], + "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": [ + 2.0501669695249802e-08, + 3.699154760283818e-08, + 6.332993507385254e-08 + ], + "angular_velocity": [ + -1.3721090681428905e-06, + 1.2208663520141272e-06, + -1.7716975264647772e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.13294315338134766, + 0.4475746154785156, + 0.8999999761581421 + ], + "ori": [ + 0.999937117099762, + -2.6690289978148485e-09, + -1.0749959145073262e-08, + 0.011216694489121437 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.062364026921841e-10, + -1.988955666831771e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + 9.3177682458645e-08, + -2.1302604125139624e-07, + 1.4972270534485688e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5490102767944336, + 1.0851526260375977, + 0.8999999761581421 + ], + "ori": [ + 0.29897555708885193, + -6.252500295289565e-09, + -1.5315825274697659e-09, + 0.9542608261108398 + ], + "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": [ + 2.886514138822349e-09, + 8.63184101973502e-09, + 0.0 + ], + "angular_velocity": [ + -3.329795390527579e-07, + 1.54914175709564e-07, + -1.1190481075118441e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.38458824157714844, + 1.1519536972045898, + 0.8999999761581421 + ], + "ori": [ + -0.017053039744496346, + 9.54679464371111e-08, + -2.1058932020423526e-07, + 0.9998546838760376 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.067237604956972e-07, + 2.2078414474435704e-07, + -8.121132850646973e-07 + ], + "angular_velocity": [ + -1.2273565516807139e-05, + -6.725465937051922e-06, + -1.4603832596549182e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.218088150024414, + 0.4869871139526367, + 0.9179999828338623 + ], + "ori": [ + -0.9836554527282715, + -5.366462119127391e-07, + 1.896913914833931e-08, + 0.18006101250648499 + ], + "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": [ + -2.768837816802261e-07, + 8.000547495612409e-06, + -3.7811696529388428e-06 + ], + "angular_velocity": [ + -0.00017652712995186448, + 5.3900461352895945e-05, + 4.7503694077022374e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.1313610076904297, + 0.45131492614746094, + 0.9180000424385071 + ], + "ori": [ + 0.9996561408042908, + -3.787536062560548e-09, + -1.0182771958966441e-08, + -0.02622484602034092 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.17389847737104e-08, + -3.304684526028723e-08, + -5.003064870834351e-06 + ], + "angular_velocity": [ + 5.373747740122781e-07, + -2.38298548538296e-06, + 1.0057897270598914e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.5531864166259766, + 1.094264030456543, + 0.9180000424385071 + ], + "ori": [ + 0.3542654514312744, + -5.3137604538733285e-08, + -2.6246834750054404e-07, + 0.9351449012756348 + ], + "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": [ + 1.1462125257821754e-06, + 8.949054063123185e-06, + -5.386769771575928e-06 + ], + "angular_velocity": [ + -0.0001105004848795943, + 7.582487160107121e-05, + -5.713147402275354e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.39783382415771484, + 1.1433124542236328, + 0.9179999828338623 + ], + "ori": [ + -0.09691715985536575, + 4.3527302295842674e-07, + -6.553253228958056e-07, + 0.9952924847602844 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.016369974939153e-06, + -1.7954029090105905e-06, + -4.984438419342041e-06 + ], + "angular_velocity": [ + -0.00011735712178051472, + -0.00016581114323344082, + -3.5878143535228446e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 2.739999999999964, + "step": 548, + "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": 2.018499083156211e-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": 0.15096005178906094, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 306, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.37394180893898, + 0.04836541414260864, + 0.0 + ], + "carrier_2": [ + -0.01705685257911682, + -0.00242537260055542, + 0.0 + ], + "carrier_3": [ + 1.3990102708339691, + 0.6351526379585266, + 0.0 + ], + "carrier_4": [ + 0.23458823561668396, + 0.7019537091255188, + 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": [ + 0.7781540268099717, + -0.43191020753524617, + 2.617084652535925 + ], + "ori": [ + -13.782226351570618, + -6.669689042753266, + 2.774509242347982 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5337.866746703284, + "color": [ + 0.9235826430689027, + 0.9184583841024124, + 0.8765560063192526 + ], + "intensity": 9244.52560296798, + "width": 2.163127523379903, + "height": 1.0126480337927526 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.3321427219372615, + 1.0871427084498098, + 2.1430752885017936 + ], + "ori": [ + 27.03627185224488, + -13.774252239477889, + -1.0084337835472326 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6844.557324073584, + "color": [ + 0.8673899340665993, + 0.8117839685571094, + 0.9302753078904907 + ], + "intensity": 2605.1666955983733, + "radius": 0.3774728522327415 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1062.812266262882, + "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": [ + [ + 0.05026395618915558, + -0.001923869946040213, + -0.030296342447400093, + -0.26904165744781494, + 0.6550193428993225, + 0.6482159495353699, + -0.2799684703350067 + ], + [ + 0.053954776376485825, + 0.002678524237126112, + -0.03095618449151516, + -0.2771930694580078, + 0.6550685167312622, + 0.6414912939071655, + -0.28729456663131714 + ], + [ + 0.050621576607227325, + -0.0021433664951473475, + -0.03232371062040329, + -0.29523220658302307, + 0.6449030637741089, + 0.6486190557479858, + -0.27610018849372864 + ], + [ + 0.0493662990629673, + 0.00033953931415453553, + -0.032309647649526596, + -0.2792551517486572, + 0.6420268416404724, + 0.6601439714431763, + -0.2720809578895569 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e002/wrist.mp4 b/episodes/c5_p001_e002/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..50d89302d7bf24493d6dbaec85d4c875113037d4 --- /dev/null +++ b/episodes/c5_p001_e002/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a002990002a84e6a34de97c41a80095f9a887406e5235b028412f173c9f520f +size 7190028 diff --git a/episodes/c5_p001_e003/data.npz b/episodes/c5_p001_e003/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..a2bc1cac777a75b6b21661877ce7ecb61a1cf917 --- /dev/null +++ b/episodes/c5_p001_e003/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2874c29372979665b3d62edf80255834300c2b1868fce306ae0fda334b4672ec +size 200099 diff --git a/episodes/c5_p001_e003/device_events.jsonl b/episodes/c5_p001_e003/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ccf77a1311547e598694d5be8ad2da8dbcc35d25 --- /dev/null +++ b/episodes/c5_p001_e003/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 149, "t": 0.745, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 149, "t": 0.745, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 154, "t": 0.77, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6922, "t": 34.61, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7536, "t": 37.68, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 7536, "t": 37.68, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.0236807999184747}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7536, "t": 37.68, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 7536, "t": 37.68, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 7536, "t": 37.68, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7955, "t": 39.775, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7955, "t": 39.775, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7955, "t": 39.775, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7955, "t": 39.775, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7955, "t": 39.775, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7955, "t": 39.775, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7955, "t": 39.775, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7955, "t": 39.775, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7955, "t": 39.775, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.0236807999184747}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8360, "t": 41.8, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 8360, "t": 41.8, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.025000000001036}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8360, "t": 41.8, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.025000000001036}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8360, "t": 41.8, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 8360, "t": 41.8, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 8360, "t": 41.8, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8780, "t": 43.9, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8780, "t": 43.9, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8780, "t": 43.9, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8780, "t": 43.9, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8780, "t": 43.9, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8780, "t": 43.9, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 9358, "t": 46.79, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 11584, "t": 57.92, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 11584, "t": 57.92, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11584, "t": 57.92, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11584, "t": 57.92, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p001_e003/env.mp4 b/episodes/c5_p001_e003/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..044cf02a2a75bb00614146fbc2a68bdf24a994d8 --- /dev/null +++ b/episodes/c5_p001_e003/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:750f8bb5cea46da75c6754a407ec885cd0c28aa62ab47b905ea70a2e2b00c290 +size 1334640 diff --git a/episodes/c5_p001_e003/meta.json b/episodes/c5_p001_e003/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d2dfdc7cbc3a4f8684ced0cbd7004a5c200be1c7 --- /dev/null +++ b/episodes/c5_p001_e003/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/3", + "fps": 25, + "frames": 1245, + "kept_ticks": "even", + "video_frames": { + "wrist": 1245, + "env": 1245 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e003/scene_snapshot.json b/episodes/c5_p001_e003/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..1301cdabdcb70b5891bbc46f294bd705df69c286 --- /dev/null +++ b/episodes/c5_p001_e003/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 3, + "env_id": 3, + "run_id": "c5_p001", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48097991943359375, + 0.1065673828125, + 0.8999999761581421 + ], + "ori": [ + 0.726047158241272, + 0.0, + 0.0, + -0.687644898891449 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.00924975841854e-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": 0.231089578900173, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1585636161554859, + "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": 0.231089578900173, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0209054946899414, + 1.1498708724975586, + 0.8999999761581421 + ], + "ori": [ + -0.0019482915522530675, + -1.062448049538034e-07, + -1.8590976935684012e-07, + 0.9999980926513672 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4563283912139013e-10, + 6.078835212974809e-10, + 0.0 + ], + "angular_velocity": [ + 2.9103830456733704e-11, + 2.990418579429388e-09, + 1.589887688169256e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.684401512145996, + 0.7065706253051758, + 0.8999999761581421 + ], + "ori": [ + 0.8009606003761292, + -5.417820858610867e-08, + 2.9313412142073503e-08, + 0.5987171530723572 + ], + "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": [ + 9.938401213105408e-10, + -1.5578782708303152e-10, + 0.0 + ], + "angular_velocity": [ + 1.3094755502152111e-08, + 8.052902700228515e-08, + -6.975813260368113e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.008098602294921875, + 0.44722652435302734, + 0.8999999761581421 + ], + "ori": [ + 0.9999591708183289, + 2.5433706252186994e-09, + -3.93899846073964e-09, + 0.009035589173436165 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.7222818443917163e-10, + 1.2536632842952145e-09, + 0.0 + ], + "angular_velocity": [ + -1.0186943200096721e-07, + 1.4826298411207972e-08, + -3.233856959994341e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6906604766845703, + 1.1524581909179688, + 0.8999999761581421 + ], + "ori": [ + -0.011650723405182362, + -6.782216455114565e-10, + -7.380595024031322e-10, + 0.9999321103096008 + ], + "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": [ + 2.1697705854251126e-09, + 1.9178367782757277e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.4577108231605962e-07, + 1.8835626747204515e-07, + -6.9535044389112954e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -1.0070257186889648, + 1.1584663391113281, + 0.9179999828338623 + ], + "ori": [ + -0.028421474620699883, + -1.123163499983093e-07, + -1.9453798927315802e-07, + 0.9995960593223572 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.0756942831212655e-08, + 7.1422618930228055e-09, + 1.043081283569336e-07 + ], + "angular_velocity": [ + -2.2815947886556387e-07, + 1.4139077393338084e-06, + 1.6646777112327982e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 1.6762514114379883, + 0.7147960662841797, + 0.9180000424385071 + ], + "ori": [ + 0.8281596899032593, + -5.622621301881736e-08, + 2.6507450456847437e-08, + 0.5604922771453857 + ], + "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": [ + 2.791010089708834e-08, + -2.7843451988474044e-08, + -6.124377250671387e-06 + ], + "angular_velocity": [ + 2.4110440790536813e-06, + 8.902348440642527e-07, + -9.892816166257035e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.0037202835083007812, + 0.4389667510986328, + 0.9180000424385071 + ], + "ori": [ + 0.9991118907928467, + 2.07868722235105e-09, + -4.41452163713052e-09, + 0.04213549569249153 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.9851960075811803e-08, + 1.8237283683220085e-08, + -4.954636096954346e-06 + ], + "angular_velocity": [ + -2.1623168322548736e-07, + -1.225774781232758e-06, + 1.4778316881347564e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.700932502746582, + 1.1519126892089844, + 0.9179999828338623 + ], + "ori": [ + -0.0034922228660434484, + -7.368249066441734e-11, + 3.012170513017054e-10, + 0.9999939799308777 + ], + "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": [ + 7.725157757931811e-08, + 4.866333114250665e-08, + -1.0021030902862549e-06 + ], + "angular_velocity": [ + -1.070719690687838e-06, + 2.363474322919501e-06, + 6.569989352556149e-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": 8.299999999999898, + "step": 1660, + "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": 1.00924975841854e-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": 0.231089578900173, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1510, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.1709055006504059, + 0.6998708844184875, + 0.0 + ], + "carrier_2": [ + 1.5344015061855316, + 0.25657063722610474, + 0.0 + ], + "carrier_3": [ + -0.15809860825538635, + -0.002773463726043701, + 0.0 + ], + "carrier_4": [ + 0.5406604707241058, + 0.7024582028388977, + 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": [ + -0.09190359788923053, + 0.3877097561574113, + 2.938850935820934 + ], + "ori": [ + 13.604516060106747, + -11.729807534569002, + -3.7708067158953895 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5155.48228209703, + "color": [ + 0.831202812171726, + 0.9300398097427272, + 0.8200206412257155 + ], + "intensity": 5032.355243837303, + "width": 1.5854930016810378, + "height": 1.1427319906241007 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.2318986427677956, + -0.6421378310066389, + 1.7560140467083263 + ], + "ori": [ + 28.599623324702634, + 32.1955225831298, + 13.30392967534167 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6050.314465882062, + "color": [ + 0.9811932195275144, + 0.8462572108970338, + 0.9755226042580541 + ], + "intensity": 9977.106044244774, + "radius": 0.05354251317432366 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1062.812266262882, + "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": [ + [ + 0.804792046546936, + -1.3264870643615723, + 1.886333703994751, + -2.130650281906128, + -1.5707684755325317, + 2.19038724899292, + 0.0071712336502969265, + 0.006593690719455481 + ], + [ + 0.8009835481643677, + -1.3736492395401, + 2.023784875869751, + -2.2209482192993164, + -1.5708038806915283, + 2.4580156803131104, + 0.00767873739823699, + 0.0070489379577338696 + ], + [ + 0.763525664806366, + -1.3943567276000977, + 1.9718645811080933, + -2.1488823890686035, + -1.5705838203430176, + 2.386866331100464, + 0.008736002258956432, + 0.006193229462951422 + ], + [ + 0.91410231590271, + -1.7193987369537354, + 2.0905003547668457, + -1.9419009685516357, + -1.5707999467849731, + 2.484900951385498, + 0.01799999549984932, + 0.018000002950429916 + ] + ], + "joint_vel": [ + [ + 6.245436088647693e-05, + -2.339184720767662e-05, + 3.488896709313849e-06, + 0.00013424752978608012, + -0.00039775302866473794, + -0.0011163312010467052, + -0.007714254781603813, + 0.0001183325148303993 + ], + [ + 0.00023021630477160215, + -0.013523968867957592, + -0.010239377617835999, + 0.021746821701526642, + 0.0006480931770056486, + 0.0019842253532260656, + -0.008014589548110962, + 0.00023804233933333308 + ], + [ + -0.0014811016153544188, + -0.00043649011058732867, + -0.0009996338048949838, + -0.0011429026490077376, + -0.0009714128100313246, + -0.003315512789413333, + -0.006377805955708027, + 0.000255571590969339 + ], + [ + 2.8863460918893926e-38, + -1.620906876797181e-38, + -2.612991437337236e-38, + -5.2577646601569905e-37, + 2.0619476878750123e-37, + -2.8661804541048027e-37, + 5.198074859436019e-08, + -5.198079477963802e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.050405703485012054, + -0.0007715434185229242, + -0.031434040516614914, + -0.2726685702800751, + 0.649872362613678, + 0.6533660888671875, + -0.2764606773853302 + ], + [ + 0.05450130254030228, + 0.0023559832479804754, + -0.032035622745752335, + -0.27578943967819214, + 0.6553653478622437, + 0.6419621109962463, + -0.286916583776474 + ], + [ + 0.04764239862561226, + 0.00039641899638809264, + -0.03254999965429306, + -0.2935781478881836, + 0.6410204768180847, + 0.6506147384643555, + -0.28214365243911743 + ], + [ + 0.05127764865756035, + 0.0008778738556429744, + -0.03219858184456825, + -0.27512943744659424, + 0.6423712372779846, + 0.6638643741607666, + -0.2663589417934418 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e003/wrist.mp4 b/episodes/c5_p001_e003/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3f12f490ab70c583f1099c20d8b114c1412fb4e1 --- /dev/null +++ b/episodes/c5_p001_e003/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73995f5177b02b3e34f4e711db7a3724a4bfa86b96812826273228f45671ae6b +size 7306508 diff --git a/episodes/c5_p001_e004/data.npz b/episodes/c5_p001_e004/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..15fb567db49593b054caf2480ee47a5689e83c17 --- /dev/null +++ b/episodes/c5_p001_e004/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e70fd260c590e0f44fa3dddc75e78fd77bc96bd1109106998d417adc896cebb +size 189596 diff --git a/episodes/c5_p001_e004/device_events.jsonl b/episodes/c5_p001_e004/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb086056d8560af61c07dc76b5502844e5b11d08 --- /dev/null +++ b/episodes/c5_p001_e004/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 60, "t": 0.3, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 60, "t": 0.3, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 65, "t": 0.325, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 5815, "t": 29.075, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6424, "t": 32.12, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 6, "step": 6424, "t": 32.12, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.1236138468655126}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6424, "t": 32.12, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 8, "step": 6424, "t": 32.12, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 9, "step": 6424, "t": 32.12, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 10, "step": 6843, "t": 34.215, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 6843, "t": 34.215, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 6843, "t": 34.215, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 6843, "t": 34.215, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 6843, "t": 34.215, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 6843, "t": 34.215, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 6843, "t": 34.215, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 17, "step": 6843, "t": 34.215, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 18, "step": 6843, "t": 34.215, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.1236138468655126}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7468, "t": 37.34, "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": 7468, "t": 37.34, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.1250000000015987}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7468, "t": 37.34, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.1250000000015987}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7468, "t": 37.34, "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": 7468, "t": 37.34, "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": 7468, "t": 37.34, "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": 7888, "t": 39.44, "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": 7888, "t": 39.44, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.727156526802446e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 7888, "t": 39.44, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.727156526802446e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 7888, "t": 39.44, "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": 7888, "t": 39.44, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 7888, "t": 39.44, "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": 8467, "t": 42.335, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 10164, "t": 50.82, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 33, "step": 10164, "t": 50.82, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 10164, "t": 50.82, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10164, "t": 50.82, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p001_e004/env.mp4 b/episodes/c5_p001_e004/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d4707f52c227b7e5bcf18acfd4edd9e53be00c4e --- /dev/null +++ b/episodes/c5_p001_e004/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68f54babf4aca8becf48650b621eed5464ec4c350abaae5010b628e62df2d7a6 +size 1260214 diff --git a/episodes/c5_p001_e004/meta.json b/episodes/c5_p001_e004/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..67db829f4700b847c79f06bd99b213fb24dda90f --- /dev/null +++ b/episodes/c5_p001_e004/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/4", + "fps": 25, + "frames": 1221, + "kept_ticks": "even", + "video_frames": { + "wrist": 1221, + "env": 1221 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e004/scene_snapshot.json b/episodes/c5_p001_e004/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..c656a04e038f83621bf7963fd9f59ba5eb65a3d3 --- /dev/null +++ b/episodes/c5_p001_e004/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 4, + "env_id": 0, + "run_id": "c5_p001", + "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_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5098752975463867, + 0.08571529388427734, + 0.8999999761581421 + ], + "ori": [ + 0.7111824154853821, + 0.0, + 0.0, + -0.7030075192451477 + ], + "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": 0.21234792343585196, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.04017753221301207, + "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": 0.21234792343585196, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.19217967987060547, + 1.1500015258789062, + 0.8999999761581421 + ], + "ori": [ + -5.363265154301189e-05, + -2.8107530525289803e-08, + -1.7689615106064593e-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": [ + 1.568831820009109e-08, + 3.5973378942344425e-08, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -4.319503204897046e-06, + 1.0221144748356892e-06, + 4.622773701612459e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5610227584838867, + 0.5248126983642578, + 0.8999999761581421 + ], + "ori": [ + 0.949379563331604, + 1.93885050236986e-08, + -5.2311431630869265e-08, + 0.3141312003135681 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.003286756595116e-11, + -7.108885147211197e-10, + 0.0 + ], + "angular_velocity": [ + 5.206956288361653e-08, + -1.7692013187797784e-08, + 2.566600931785956e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3874797821044922, + 0.7114362716674805, + 0.8999999761581421 + ], + "ori": [ + -0.791262149810791, + 4.209496040630256e-08, + 9.370025821908712e-08, + 0.6114771962165833 + ], + "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": [ + -3.3623734907450853e-09, + 2.2714630176778883e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -2.0922198018524796e-07, + 2.3689608497079462e-08, + -6.247910278034396e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.11004638671875, + 0.4499969482421875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.816207323424024e-10, + 7.816324254505957e-10, + 2.652437615324743e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.696461163357981e-10, + 4.269858244754232e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -2.658947266809264e-07, + -7.941543600509249e-08, + 2.4624819960905597e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -0.1863574981689453, + 1.1518869400024414, + 0.9179999828338623 + ], + "ori": [ + 0.05363026633858681, + -9.921361510123461e-08, + -1.0684355800094636e-07, + 0.9985608458518982 + ], + "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": [ + 1.1864671023431583e-07, + 3.964232746511698e-06, + -1.214444637298584e-06 + ], + "angular_velocity": [ + -3.6091110814595595e-05, + 1.2080608939868398e-06, + -1.6920448615564965e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 1.5523920059204102, + 0.5252628326416016, + 0.9180000424385071 + ], + "ori": [ + 0.927676260471344, + 1.7200116886328942e-08, + -5.2596270450067095e-08, + 0.3733857274055481 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.316421329368495e-09, + -1.9869990097731716e-08, + -5.334615707397461e-06 + ], + "angular_velocity": [ + 1.5353092521763756e-06, + -2.43898853113933e-07, + 6.744146929804629e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.392268180847168, + 0.7048473358154297, + 0.9179999828338623 + ], + "ori": [ + -0.8398712873458862, + 4.783156555276946e-07, + -1.8961725345434388e-07, + 0.54278564453125 + ], + "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": [ + -2.7813803171738982e-06, + -2.751337888184935e-06, + 2.4586915969848633e-07 + ], + "angular_velocity": [ + 3.099638706771657e-05, + -7.235386146930978e-05, + -4.0098722820403054e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.1176156997680664, + 0.4391345977783203, + 0.9179999828338623 + ], + "ori": [ + 0.9996491074562073, + 9.618628116214722e-11, + -3.702371742519972e-11, + 0.026490164920687675 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.485655200729525e-08, + 5.1100784048685455e-08, + -1.1995434761047363e-06 + ], + "angular_velocity": [ + -6.705536179651972e-07, + -3.4528229662100784e-06, + 1.7434089727430546e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 2.1999999999999753, + "step": 440, + "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": 0.21234792343585196, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 379, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.34217968583106995, + 0.7000015377998352, + 0.0 + ], + "carrier_2": [ + 1.4110227525234222, + 0.07481271028518677, + 0.0 + ], + "carrier_3": [ + -1.5374797880649567, + 0.2614362835884094, + 0.0 + ], + "carrier_4": [ + -0.03995361924171448, + -3.039836883544922e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.24508526771459327, + -0.37368006720950203, + 2.774827018679595 + ], + "ori": [ + -2.761872291292164, + -2.601031763156932, + -20.847258833068015 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6358.583412194755, + "color": [ + 0.8353473557995861, + 0.8513774387564993, + 0.8129308166258596 + ], + "intensity": 12958.0662967897, + "width": 1.560000185367345, + "height": 1.7005164089114304 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.0868834896343933, + -0.7306130380823281, + 1.784917089065 + ], + "ori": [ + -38.48479730492972, + -11.127367832666781, + -32.43003810144624 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7078.6980841753675, + "color": [ + 0.8063926600698406, + 0.8977492011486174, + 0.9625295160421891 + ], + "intensity": 7044.583521395836, + "radius": 0.208502720028031 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1135.392619873196, + "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": [ + [ + 0.9141026735305786, + -1.7193981409072876, + 2.0904994010925293, + -1.9419013261795044, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141014218330383, + -1.719399094581604, + 2.0904998779296875, + -1.9419009685516357, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.2536625862121582, + -1.6040542125701904, + 2.179192543029785, + -2.145463705062866, + -1.5707238912582397, + 0.8063318729400635, + 0.007640689145773649, + 0.007016900926828384 + ] + ], + "joint_vel": [ + [ + -2.424550705308385e-38, + 2.199683499959103e-38, + 1.8024520993427826e-38, + 5.931964551961084e-37, + -5.959138531781271e-37, + 2.6884651372076288e-36, + 2.5990400942532688e-08, + -2.599039206074849e-08 + ], + [ + -2.4799384284092876e-38, + 1.689200839014208e-38, + 0.0, + 3.5418704306439205e-37, + 6.713138895908471e-38, + 9.194073030954569e-37, + -3.354786996307614e-38, + 1.3836638518264907e-37 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.032289665192365646, + 0.010866915807127953, + -0.004190215840935707, + -0.006527298130095005, + -0.00043503750930540264, + -0.07306352257728577, + -0.007935898378491402, + 0.00019483412324916571 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05095912888646126, + 0.0010504138190299273, + -0.0317668579518795, + -0.2709527313709259, + 0.656926691532135, + 0.6454310417175293, + -0.2800906002521515 + ], + [ + 0.052973903715610504, + 0.0024339575320482254, + -0.03122231736779213, + -0.27209845185279846, + 0.6565366983413696, + 0.6436153054237366, + -0.2840445339679718 + ], + [ + 0.048013050109148026, + -0.0004846059309784323, + -0.03294143080711365, + -0.2942144572734833, + 0.6434099078178406, + 0.648957371711731, + -0.27984973788261414 + ], + [ + 0.05357184633612633, + -0.0002114421222358942, + -0.03309931233525276, + -0.2857837975025177, + 0.6393758058547974, + 0.6623744368553162, + -0.26605695486068726 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e004/wrist.mp4 b/episodes/c5_p001_e004/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8071715314ca6da1eac8f3ab84817a3571314805 --- /dev/null +++ b/episodes/c5_p001_e004/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8dbc6c3c34ae5cd3151b2cf20c7c542240642bf510afe002beee843f8d6c291e +size 6894965 diff --git a/episodes/c5_p001_e005/data.npz b/episodes/c5_p001_e005/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..c9447f58777a491064c1eaddf2a771f50565cd2d --- /dev/null +++ b/episodes/c5_p001_e005/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ff38954dd0993636094b49b0335c78a4f9f9fa7fa24f0dce32ec56ee8175353 +size 191088 diff --git a/episodes/c5_p001_e005/device_events.jsonl b/episodes/c5_p001_e005/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16c512a98e93e0b20422c3f4782571dada310e5e --- /dev/null +++ b/episodes/c5_p001_e005/device_events.jsonl @@ -0,0 +1,39 @@ +{"env_id": 2, "seq": 1, "step": 200, "t": 1.0, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 200, "t": 1.0, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 205, "t": 1.025, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1559, "t": 7.795, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 1623, "t": 8.115, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 1664, "t": 8.32, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 1707, "t": 8.535, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 8, "step": 6475, "t": 32.375, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 7088, "t": 35.44, "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": 10, "step": 7088, "t": 35.44, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.1309061474587856}, "cause": "task-2-1"} +{"env_id": 2, "seq": 11, "step": 7088, "t": 35.44, "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": 12, "step": 7088, "t": 35.44, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 13, "step": 7088, "t": 35.44, "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": 14, "step": 7507, "t": 37.535, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 15, "step": 7507, "t": 37.535, "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": 16, "step": 7507, "t": 37.535, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 17, "step": 7507, "t": 37.535, "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": 18, "step": 7507, "t": 37.535, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 19, "step": 7507, "t": 37.535, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 20, "step": 7507, "t": 37.535, "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": 21, "step": 7507, "t": 37.535, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 22, "step": 7507, "t": 37.535, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.1309061474587856}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 8134, "t": 40.67, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 8134, "t": 40.67, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.135000000001604}, "cause": "program-2-3"} +{"env_id": 2, "seq": 25, "step": 8134, "t": 40.67, "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": 3.135000000001604}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 26, "step": 8134, "t": 40.67, "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": 27, "step": 8134, "t": 40.67, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 28, "step": 8134, "t": 40.67, "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": 29, "step": 8554, "t": 42.77, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 30, "step": 8554, "t": 42.77, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.0940273126601738e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 31, "step": 8554, "t": 42.77, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.0940273126601738e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 32, "step": 8554, "t": 42.77, "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": 33, "step": 8554, "t": 42.77, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 34, "step": 8554, "t": 42.77, "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": 35, "step": 9134, "t": 45.67, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10912, "t": 54.56, "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": 37, "step": 10912, "t": 54.56, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 38, "step": 10912, "t": 54.56, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 39, "step": 10912, "t": 54.56, "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/c5_p001_e005/env.mp4 b/episodes/c5_p001_e005/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..04c9bb2351d94c0962b23f1ea6d8edd8a9693e2e --- /dev/null +++ b/episodes/c5_p001_e005/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c7f1850133528ecc5677f07f8b1b86d44a7e2f59d0fd5eca618c793a703bca9 +size 1274233 diff --git a/episodes/c5_p001_e005/meta.json b/episodes/c5_p001_e005/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..22457a9a875d025aeddb656aa0d8e6c9feca8bdb --- /dev/null +++ b/episodes/c5_p001_e005/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/5", + "fps": 25, + "frames": 1228, + "kept_ticks": "even", + "video_frames": { + "wrist": 1228, + "env": 1228 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e005/scene_snapshot.json b/episodes/c5_p001_e005/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..404b82aa5f99bb3a022282031800ba23a6adf221 --- /dev/null +++ b/episodes/c5_p001_e005/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 5, + "env_id": 2, + "run_id": "c5_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.0092504089398435e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.18225405906348602, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.22651582226265465, + "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": 0.18225405906348602, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6961078643798828, + 0.7694606781005859, + 0.8999999761581421 + ], + "ori": [ + 0.735418438911438, + -1.114656242862111e-07, + 6.43753850226858e-08, + 0.6776132583618164 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.5447644702580874e-07, + 9.257175292987085e-07, + -2.3655593395233154e-06 + ], + "angular_velocity": [ + -7.590459426864982e-05, + -7.594320777570829e-06, + 2.0471532025112538e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6338462829589844, + 1.1526899337768555, + 0.8999999761581421 + ], + "ori": [ + -0.00992652215063572, + 9.956196284077734e-11, + -2.0442336712278575e-09, + 0.9999507665634155 + ], + "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": [ + 9.187282046241307e-10, + 1.417685191462681e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -4.7191399232815456e-08, + 7.617663300152344e-08, + -2.417025513068438e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0464038848876953, + 1.1488428115844727, + 0.8999999761581421 + ], + "ori": [ + -0.01454299408942461, + 1.1136306454773148e-07, + -7.573901505963931e-09, + 0.9998943209648132 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.797247209533452e-10, + -9.042542270520926e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 2.428405565524372e-08, + 1.02314807293169e-07, + 2.6983661527424374e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.07589340209960938, + 0.44739818572998047, + 0.8999999761581421 + ], + "ori": [ + 0.9999467134475708, + -9.99496263531796e-10, + 3.344426402485112e-10, + 0.01032455824315548 + ], + "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": [ + -2.7316100492669193e-09, + -2.9354656483349117e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 1.6045032680267468e-07, + -2.4754555738581985e-07, + -2.5557026717137887e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.694392204284668, + 0.780670166015625, + 0.9179999828338623 + ], + "ori": [ + 0.7460217475891113, + 6.68035227135988e-07, + 5.598746497526008e-07, + 0.6659216284751892 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.905874554126058e-06, + 7.478284715034533e-06, + -8.89599323272705e-06 + ], + "angular_velocity": [ + -8.944529690779746e-05, + -2.185137418564409e-05, + 4.7119792725425214e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.6423139572143555, + 1.1633081436157227, + 0.9180000424385071 + ], + "ori": [ + -0.015465923584997654, + -2.8118063433169027e-10, + -1.5729937352659817e-09, + 0.9998804330825806 + ], + "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": [ + 4.828859090366677e-08, + 1.6894690091362463e-08, + -5.070120096206665e-06 + ], + "angular_velocity": [ + -2.135392946911452e-07, + 2.4524542823201045e-06, + 6.24036502472336e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -1.045166015625, + 1.1563282012939453, + 0.9180000424385071 + ], + "ori": [ + 0.05291679501533508, + 1.1362676843873487e-07, + -2.2629352613989795e-08, + 0.9985989928245544 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.2970292213340144e-08, + -9.356654118164442e-09, + -5.5730342864990234e-06 + ], + "angular_velocity": [ + -7.990284757397603e-06, + 4.074643584317528e-06, + 5.519804631148872e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -0.08558845520019531, + 0.44220829010009766, + 0.9179999828338623 + ], + "ori": [ + 0.9999983310699463, + -4.4795883669124237e-10, + -6.650755501880212e-10, + 0.001830046996474266 + ], + "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": [ + -9.76819762854575e-08, + -3.225845546239725e-08, + -1.3522803783416748e-06 + ], + "angular_velocity": [ + 8.511849500791868e-07, + -3.3941719266294967e-06, + -8.37573033152239e-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": 5.679999999999901, + "step": 1136, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 1.0092504089398435e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.18225405906348602, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 935, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5461078584194183, + 0.3194606900215149, + 0.0 + ], + "carrier_2": [ + 0.4838462769985199, + 0.7026899456977844, + 0.0 + ], + "carrier_3": [ + -1.1964038908481598, + 0.6988428235054016, + 0.0 + ], + "carrier_4": [ + -0.22589340806007385, + -0.002601802349090576, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.8663387724351398, + 0.2057790783420571, + 2.6403503636169945 + ], + "ori": [ + -6.993310875083495, + -8.996910125371866, + 24.782267206138883 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3835.1994642847344, + "color": [ + 0.8831902303975093, + 0.9430517146933315, + 0.9284882426772911 + ], + "intensity": 15791.382262591322, + "width": 1.6581378293444513, + "height": 0.8284328745913114 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.8989944920480688, + -1.1006218024336514, + 2.20797561491277 + ], + "ori": [ + -32.81301828570973, + 33.35424405210638, + 10.123079749187305 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3528.122720192925, + "color": [ + 0.9750365319440002, + 0.7514680331210347, + 0.9557267856717577 + ], + "intensity": 6164.855563973242, + "radius": 0.40841971891088824 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1135.392619873196, + "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": [ + [ + 0.7860403656959534, + -1.404775619506836, + 1.9848276376724243, + -2.1518044471740723, + -1.5701545476913452, + 2.3060333728790283, + 0.008136985823512077, + 0.007152631878852844 + ], + [ + 0.9141026735305786, + -1.7193982601165771, + 2.0904998779296875, + -1.9419010877609253, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141042232513428, + -1.719395399093628, + 2.090498447418213, + -1.9419002532958984, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.0029677320271730423, + 0.0003983984934166074, + 0.0042464337311685085, + 0.013040046207606792, + -0.01682775281369686, + -0.04668153077363968, + 0.00120826147031039, + -0.0007772806566208601 + ], + [ + 0.0, + 2.456590834175786e-38, + 1.693424352585683e-38, + 3.606386884564698e-37, + -5.973794544263828e-37, + 2.6964591301622564e-36, + 2.5990374297180097e-08, + -2.5990399166175848e-08 + ], + [ + 2.2437099155007993e-38, + 0.0, + 1.6553342577284059e-38, + -5.06555583655757e-37, + 3.864614802454161e-37, + -2.700370075703473e-37, + 2.5990400942532688e-08, + -2.5990388508034812e-08 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05256400629878044, + -0.001067913370206952, + -0.03293304890394211, + -0.27211645245552063, + 0.6539763808250427, + 0.6462397575378418, + -0.28397485613822937 + ], + [ + 0.05384884402155876, + 0.0007123169489204884, + -0.032667580991983414, + -0.27343758940696716, + 0.657498300075531, + 0.6409789323806763, + -0.2864854037761688 + ], + [ + 0.04910306632518768, + 0.001783931627869606, + -0.03302120044827461, + -0.29356318712234497, + 0.6409869194030762, + 0.6503814458847046, + -0.2827727496623993 + ], + [ + 0.05351771414279938, + 0.0014246712671592832, + -0.03079288639128208, + -0.28532156348228455, + 0.6405383944511414, + 0.6577492952346802, + -0.27507829666137695 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e005/wrist.mp4 b/episodes/c5_p001_e005/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a15ca7235eb10fe3be216d6f644a4cd900ee1979 --- /dev/null +++ b/episodes/c5_p001_e005/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2afe1ab6be06f6b91307d934f4e4f9d2bf1ade174084834b782e9720cdf2d090 +size 6670077 diff --git a/episodes/c5_p001_e006/data.npz b/episodes/c5_p001_e006/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..6b7492280c88fc3c543b2e793d7af208cb0a5896 --- /dev/null +++ b/episodes/c5_p001_e006/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b979f2fe79640796f0e5e052d67f219f23be5d0fde774cf925bcdcff9b6cc37 +size 188302 diff --git a/episodes/c5_p001_e006/device_events.jsonl b/episodes/c5_p001_e006/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e97dc904286f06b8c681c5befd2a97785cf17c9f --- /dev/null +++ b/episodes/c5_p001_e006/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 129, "t": 0.645, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 129, "t": 0.645, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 134, "t": 0.67, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 7193, "t": 35.965, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7804, "t": 39.02, "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": 7804, "t": 39.02, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.620036105797456}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7804, "t": 39.02, "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": 7804, "t": 39.02, "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": 7804, "t": 39.02, "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": 8223, "t": 41.115, "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": 8223, "t": 41.115, "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": 8223, "t": 41.115, "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": 8223, "t": 41.115, "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": 8223, "t": 41.115, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 8223, "t": 41.115, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 8223, "t": 41.115, "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": 8223, "t": 41.115, "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": 8223, "t": 41.115, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.620036105797456}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8748, "t": 43.74, "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": 8748, "t": 43.74, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.625000000001343}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8748, "t": 43.74, "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": 2.625000000001343}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8748, "t": 43.74, "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": 8748, "t": 43.74, "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": 8748, "t": 43.74, "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": 9168, "t": 45.84, "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": 9168, "t": 45.84, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.3506912921457115e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 9168, "t": 45.84, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.3506912921457115e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 9168, "t": 45.84, "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": 9168, "t": 45.84, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 9168, "t": 45.84, "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": 9755, "t": 48.775, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 11496, "t": 57.48, "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": 11496, "t": 57.48, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11496, "t": 57.48, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11496, "t": 57.48, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p001_e006/env.mp4 b/episodes/c5_p001_e006/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..aa21e85c2b3ded416d9f735f462cb7e63a38dcf0 --- /dev/null +++ b/episodes/c5_p001_e006/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:899190fdf7575a7708172402541e1f9f6667cdb6aa951581f78e2ee1f3c69a87 +size 1209525 diff --git a/episodes/c5_p001_e006/meta.json b/episodes/c5_p001_e006/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a24744889ab24a3b220e76b05250135324268383 --- /dev/null +++ b/episodes/c5_p001_e006/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/6", + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e006/scene_snapshot.json b/episodes/c5_p001_e006/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..1d5a0964a4df043dae2b37c91a9697da80a5cbbf --- /dev/null +++ b/episodes/c5_p001_e006/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 6, + "env_id": 1, + "run_id": "c5_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.018499083156211e-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": 0.22381299788732759, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.28236201026974056, + "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": 0.22381299788732759, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5628471374511719, + 0.5261249542236328, + 0.8999999761581421 + ], + "ori": [ + 0.9480134844779968, + 7.616795016929245e-08, + -7.910043109404796e-08, + 0.31823042035102844 + ], + "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": [ + -6.803376209063572e-07, + -6.849076612525096e-07, + -2.7045607566833496e-06 + ], + "angular_velocity": [ + 7.711613579886034e-05, + -5.014053749619052e-05, + -3.270456772952457e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.48905372619628906, + 1.1526803970336914, + 0.8999999761581421 + ], + "ori": [ + -0.010368792340159416, + 1.1107623265615985e-07, + -1.4444455409545753e-08, + 0.9999462366104126 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.92377694172319e-10, + 3.873438458867895e-09, + 3.3527612686157227e-08 + ], + "angular_velocity": [ + -3.0178853194229305e-07, + 2.4497421691194177e-07, + 2.7423766368883662e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.13192272186279297, + 0.4473562240600586, + 0.8999999761581421 + ], + "ori": [ + 0.9999440908432007, + 4.860339908319133e-10, + 1.8213003327716137e-09, + 0.010574364103376865 + ], + "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": [ + -4.877137582681712e-10, + -5.863919350090896e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 5.345936671119489e-08, + -5.940692204831066e-08, + -9.792966437771611e-11 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3880548477172852, + 0.7190513610839844, + 0.8999999761581421 + ], + "ori": [ + -0.782525897026062, + -2.56011833954517e-08, + 3.4875871079975695e-08, + 0.6226181387901306 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.271294760220371e-11, + -2.6835511590661554e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 1.8226295139811555e-08, + -2.665603560103591e-08, + 4.200157111000635e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 1.5587234497070312, + 0.5179996490478516, + 0.9179999828338623 + ], + "ori": [ + 0.9243269562721252, + 6.96652335818726e-08, + -7.753681074973429e-08, + 0.3816016912460327 + ], + "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": [ + -1.4683797644465812e-06, + -1.7717949276629952e-06, + -3.512948751449585e-06 + ], + "angular_velocity": [ + 7.704279414610937e-05, + -5.068849350209348e-05, + -3.023673571078689e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.5003747940063477, + 1.1494112014770508, + 0.9180000424385071 + ], + "ori": [ + -0.04774495214223862, + 1.1297810686983212e-07, + -2.2219648343480003e-08, + 0.9988595843315125 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.98157533002086e-08, + 8.407880613958696e-08, + 2.7939677238464355e-07 + ], + "angular_velocity": [ + -3.019562655026675e-06, + 4.085748514626175e-06, + 1.3165777090762276e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -0.1248769760131836, + 0.4450836181640625, + 0.9179999828338623 + ], + "ori": [ + 0.997644305229187, + 1.0187003463002497e-09, + 1.944376659679392e-09, + 0.06859878450632095 + ], + "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": [ + -3.7283960807599215e-08, + -2.735055382174778e-08, + -5.461275577545166e-06 + ], + "angular_velocity": [ + 8.777846005614265e-07, + -2.2396709482563892e-06, + 1.4637677736573096e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.386113166809082, + 0.7248239517211914, + 0.9179999828338623 + ], + "ori": [ + -0.7272133231163025, + -2.836948453932564e-08, + 4.215681670416416e-08, + 0.6864115595817566 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.986719849218389e-08, + 5.952686166210697e-08, + 1.3783574104309082e-07 + ], + "angular_velocity": [ + -2.4473290523019386e-06, + -1.7004016399368993e-06, + 1.1320582871121587e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 8.499999999999929, + "step": 1700, + "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": 2.018499083156211e-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": 0.22381299788732759, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1570, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.4128471314907074, + 0.07612496614456177, + 0.0 + ], + "carrier_2": [ + 0.3390537202358246, + 0.7026804089546204, + 0.0 + ], + "carrier_3": [ + -0.28192272782325745, + -0.002643764019012451, + 0.0 + ], + "carrier_4": [ + -1.5380548536777496, + 0.26905137300491333, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.39959055706107416, + 0.29567346812137296, + 2.7749605805521553 + ], + "ori": [ + 9.269991362771915, + -10.028171781922865, + -4.193512908633931 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5894.170867044266, + "color": [ + 0.8765231054387485, + 0.9892125688573752, + 0.8755367547685482 + ], + "intensity": 8964.946857223717, + "width": 2.156214651576686, + "height": 1.2039936014212635 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.6222487615359369, + 1.153563837594256, + 2.576391540478769 + ], + "ori": [ + 9.753012163942387, + -28.576816163400558, + 6.832776448914537 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5021.648724101808, + "color": [ + 0.9069943594142909, + 0.8334274696588028, + 0.9659362088335812 + ], + "intensity": 8547.78462323402, + "radius": 0.15787869325392578 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1135.392619873196, + "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": [ + [ + 1.7657147645950317, + -2.1070938110351562, + 2.296945810317993, + -1.7616190910339355, + -1.5706406831741333, + 3.317969560623169, + 0.00797522347420454, + 0.0071562547236680984 + ], + [ + 0.9141026735305786, + -1.7193982601165771, + 2.0904998779296875, + -1.9419010877609253, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.1450707912445068, + -1.311572551727295, + 2.295936346054077, + -2.555149555206299, + -1.57085120677948, + 2.711858034133911, + 0.00777810625731945, + 0.0073323678225278854 + ], + [ + 0.9141009449958801, + -1.719397783279419, + 2.09049916267395, + -1.941900372505188, + -1.5707999467849731, + 2.48490047454834, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.06983193010091782, + -0.05210131034255028, + 0.025550782680511475, + 0.03017284721136093, + 0.00041009264532476664, + 0.07064224034547806, + -0.005910719744861126, + 0.0005519017577171326 + ], + [ + 0.0, + 2.456590834175786e-38, + 1.693424352585683e-38, + 3.606386884564698e-37, + -5.973794544263828e-37, + 2.6964591301622564e-36, + 2.5990374297180097e-08, + -2.5990399166175848e-08 + ], + [ + -0.0012773469788953662, + 0.00015087678912095726, + 0.0006533856503665447, + -0.004152433946728706, + 0.0024698683992028236, + 0.011412990279495716, + -0.006504532881081104, + 1.7015932826325297e-05 + ], + [ + 2.8777208195817804e-38, + 0.0, + -1.2222584831737353e-38, + -6.656621502037568e-37, + 3.3492974936515296e-37, + 2.002628593906477e-37, + -3.104664188735806e-38, + -4.380697780737699e-38 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05132462456822395, + -0.0009217606857419014, + -0.03304598107933998, + -0.26390087604522705, + 0.6550095081329346, + 0.6484563946723938, + -0.28429412841796875 + ], + [ + 0.051472339779138565, + 0.0010432710405439138, + -0.03017973154783249, + -0.2805464565753937, + 0.65720534324646, + 0.6392927765846252, + -0.28404155373573303 + ], + [ + 0.04911668598651886, + -0.0006963516352698207, + -0.03369984030723572, + -0.2999049723148346, + 0.6409915089607239, + 0.6468194127082825, + -0.28427374362945557 + ], + [ + 0.05156104639172554, + 0.0019841704051941633, + -0.030001984909176826, + -0.28186073899269104, + 0.6393225789070129, + 0.6622478365898132, + -0.27064546942710876 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e006/wrist.mp4 b/episodes/c5_p001_e006/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7ede3cf0baf88b1ef57e658a252362387d6dde41 --- /dev/null +++ b/episodes/c5_p001_e006/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae9d0d4689a465c8a909430265f34adc400c5af3362979b094056d8697b299cb +size 8253309 diff --git a/episodes/c5_p001_e007/data.npz b/episodes/c5_p001_e007/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..78f85521e4b2a0c9aafa813f5f84cb76e58b0b0a --- /dev/null +++ b/episodes/c5_p001_e007/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5022bc0e30efab824ae0b543917c411575206ac175fcfc1e48f34f13c09f5bdc +size 186579 diff --git a/episodes/c5_p001_e007/device_events.jsonl b/episodes/c5_p001_e007/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7e0e2c4fd0b25f8c9b245153f1afdac5b45a6c80 --- /dev/null +++ b/episodes/c5_p001_e007/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 132, "t": 0.66, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 132, "t": 0.66, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 137, "t": 0.685, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6826, "t": 34.13, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7436, "t": 37.18, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 7436, "t": 37.18, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.494393853292065}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7436, "t": 37.18, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 7436, "t": 37.18, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 7436, "t": 37.18, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7855, "t": 39.275, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7855, "t": 39.275, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7855, "t": 39.275, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7855, "t": 39.275, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7855, "t": 39.275, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7855, "t": 39.275, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7855, "t": 39.275, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7855, "t": 39.275, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7855, "t": 39.275, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.494393853292065}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8354, "t": 41.77, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 8354, "t": 41.77, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.4950000000012764}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8354, "t": 41.77, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.4950000000012764}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8354, "t": 41.77, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 8354, "t": 41.77, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 8354, "t": 41.77, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8774, "t": 43.87, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8774, "t": 43.87, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.461595758982085e-11}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8774, "t": 43.87, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.461595758982085e-11}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8774, "t": 43.87, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8774, "t": 43.87, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8774, "t": 43.87, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 9355, "t": 46.775, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 11072, "t": 55.36, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 11072, "t": 55.36, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11072, "t": 55.36, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11072, "t": 55.36, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p001_e007/env.mp4 b/episodes/c5_p001_e007/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4be7e099da3c3ecf5733d48afff6833b26a68a24 --- /dev/null +++ b/episodes/c5_p001_e007/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f3fbd62d68ffe2185c769cf9fba5921ee9b4485b308b445fda3e6c40198f4e0 +size 1255912 diff --git a/episodes/c5_p001_e007/meta.json b/episodes/c5_p001_e007/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e48e708c70fc59636a3f5f2c7b2a65b6bd5e2495 --- /dev/null +++ b/episodes/c5_p001_e007/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/7", + "fps": 25, + "frames": 1210, + "kept_ticks": "even", + "video_frames": { + "wrist": 1210, + "env": 1210 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e007/scene_snapshot.json b/episodes/c5_p001_e007/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..4ea3ea5354f196f4b24ab94640a1e095020ed60c --- /dev/null +++ b/episodes/c5_p001_e007/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 7, + "env_id": 3, + "run_id": "c5_p001", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48097991943359375, + 0.1065673828125, + 0.8999999761581421 + ], + "ori": [ + 0.726047158241272, + 0.0, + 0.0, + -0.687644898891449 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.018499950517949e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.289087012472208, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.29848917239128525, + "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": 0.289087012472208, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.148681640625, + 0.44744300842285156, + 0.8999999761581421 + ], + "ori": [ + 0.9999352097511292, + -6.796935791975045e-10, + -1.9787720073605186e-10, + 0.01138094812631607 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.043166050380023e-11, + -2.7766113852578655e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.879436126728251e-07, + 3.7909618555431734e-08, + -2.4960606914703476e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.8670883178710938, + 1.1499958038330078, + 0.8999999761581421 + ], + "ori": [ + 4.541305315797217e-05, + -9.262753342120789e-10, + 1.4706588169488555e-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": [ + -3.1033164926697054e-10, + -1.071155386611622e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 7.009097657828534e-08, + -1.2744624022786866e-08, + -2.9118703004371582e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4973278045654297, + 0.4860973358154297, + 0.8999999761581421 + ], + "ori": [ + 0.9780493974685669, + 2.7804002655784643e-08, + -9.701651748628137e-08, + 0.2083735316991806 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.90690171722963e-09, + -1.3384533481541894e-08, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + 9.06001105249743e-07, + 4.6719583224330563e-07, + -2.737795057328185e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3464202880859375, + 1.1526451110839844, + 0.8999999761581421 + ], + "ori": [ + -0.01097828894853592, + 1.777389080359626e-08, + 5.74873570968748e-09, + 0.9999397993087769 + ], + "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": [ + -2.1024959551141364e-10, + 4.4071026827907644e-09, + 2.9802322387695312e-08 + ], + "angular_velocity": [ + -3.8081131492617715e-07, + 1.8956596647967672e-07, + 3.320251096283755e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -0.15505599975585938, + 0.4497547149658203, + 0.9179999828338623 + ], + "ori": [ + 0.9993031024932861, + -3.1785138965290116e-09, + -2.1862758825541562e-10, + -0.03732854500412941 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.22706617591939e-08, + -5.5463736714500556e-08, + 1.2293457984924316e-07 + ], + "angular_velocity": [ + 1.4298273072199663e-06, + -1.8702579609453096e-06, + -6.265891272505542e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.8562240600585938, + 1.1551408767700195, + 0.9180000424385071 + ], + "ori": [ + 0.0972956046462059, + -4.5116738123240907e-10, + 3.51210971416549e-09, + 0.9952555894851685 + ], + "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": [ + 1.3343335325544103e-08, + -2.6185734469663657e-08, + -5.19677996635437e-06 + ], + "angular_velocity": [ + 7.575176255159022e-07, + 1.5123154071261524e-06, + 8.451771549289333e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 1.4998283386230469, + 0.4785585403442383, + 0.9180000424385071 + ], + "ori": [ + 0.9944493174552917, + -2.0355912511149654e-07, + -4.329356784182892e-08, + 0.10521700978279114 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.014262569602579e-07, + -4.906979484076146e-06, + -6.776303052902222e-06 + ], + "angular_velocity": [ + -2.73308833129704e-05, + -4.0144743252312765e-05, + -2.8428050427464768e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.33729076385498047, + 1.1503324508666992, + 0.9179999828338623 + ], + "ori": [ + -0.11131792515516281, + 1.9661955619199034e-08, + 1.3288364186792023e-08, + 0.9937848448753357 + ], + "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": [ + 1.0139822137489318e-07, + 1.1256453547048295e-07, + -3.1031668186187744e-06 + ], + "angular_velocity": [ + -3.5573668810684467e-06, + 3.718699872479192e-06, + 2.5541564241393644e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 7.11999999999987, + "step": 1424, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 2.018499950517949e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.289087012472208, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1291, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.2986816465854645, + -0.0025569796562194824, + 0.0 + ], + "carrier_2": [ + -1.0170883238315582, + 0.6999958157539368, + 0.0 + ], + "carrier_3": [ + 1.3473277986049652, + 0.03609734773635864, + 0.0 + ], + "carrier_4": [ + 0.19642028212547302, + 0.7026451230049133, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.23553934261031373, + -0.4180440657463963, + 3.117442178045673 + ], + "ori": [ + 3.3643342915909713, + 11.133440372593206, + -12.07639486055443 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5956.594543443729, + "color": [ + 0.8748830489988557, + 0.9522829728490754, + 0.8202490800717237 + ], + "intensity": 8027.969980849415, + "width": 2.008951303860158, + "height": 1.2650020747066917 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.3317149892606226, + 0.9141744812792265, + 1.7573282721804666 + ], + "ori": [ + -5.443962032783176, + 19.547568541829648, + 7.971495337266333 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3513.137122630266, + "color": [ + 0.9168876302805795, + 0.9945734031198343, + 0.8365065636681123 + ], + "intensity": 7222.218721845235, + "radius": 0.21540830786445314 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1135.392619873196, + "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": [ + [ + 2.807521104812622, + -1.6113989353179932, + 2.030207872390747, + -1.9896996021270752, + -1.5715702772140503, + 4.378446578979492, + 0.018000002950429916, + 0.01799999177455902 + ], + [ + 1.249967336654663, + -1.5218548774719238, + 2.118589162826538, + -2.167522668838501, + -1.570797324180603, + 2.683464288711548, + 0.007162456400692463, + 0.006470737513154745 + ], + [ + 1.173086404800415, + -1.5855190753936768, + 2.180084705352783, + -2.165321111679077, + -1.5708060264587402, + 2.740309476852417, + 0.00779185863211751, + 0.007296325638890266 + ], + [ + 0.9141035079956055, + -1.7193964719772339, + 2.090498447418213, + -1.941900372505188, + -1.5707999467849731, + 2.4849019050598145, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -6.811926596128615e-06, + -1.5587072648218236e-12, + -1.5949643949325631e-12, + 3.405977395232185e-06, + -3.405978532100562e-06, + 1.3623913218907546e-05, + -5.198922536919781e-08, + 1.0395309146815634e-07 + ], + [ + 1.4626548363594338e-05, + -3.44496984325815e-05, + -0.0003882138407789171, + -0.00022331674699671566, + 0.00022417691070586443, + 0.0008928522584028542, + -0.012190233916044235, + -0.0011411119485273957 + ], + [ + 0.02009161002933979, + -0.013556534424424171, + 0.010231689549982548, + 0.002345463028177619, + 0.00035594936343841255, + 0.020665738731622696, + -0.0060316952876746655, + 0.0003733040066435933 + ], + [ + 2.6028250169785596e-38, + -3.034037064575678e-38, + -2.1714223927902928e-38, + -4.430683330102814e-37, + 7.445025649229854e-37, + -2.9133799979150855e-37, + 2.599039028439165e-08, + -2.5990388508034812e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05045894905924797, + -0.002251890953630209, + -0.03346705064177513, + -0.2736535966396332, + 0.6515214443206787, + 0.6484842300415039, + -0.28302252292633057 + ], + [ + 0.05211275815963745, + 0.0011509472969919443, + -0.03386418893933296, + -0.28005319833755493, + 0.655668318271637, + 0.64019376039505, + -0.2860439717769623 + ], + [ + 0.049860965460538864, + 0.0006090975366532803, + -0.03343046456575394, + -0.28680887818336487, + 0.6378034353256226, + 0.6563714146614075, + -0.28306183218955994 + ], + [ + 0.05311950668692589, + 0.00022365852782968432, + -0.03125058859586716, + -0.2825451195240021, + 0.6453666687011719, + 0.6561813354492188, + -0.27036306262016296 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e007/wrist.mp4 b/episodes/c5_p001_e007/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dfba130659e63a9bb13a4b38328ec7d3c0922447 --- /dev/null +++ b/episodes/c5_p001_e007/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae80162e85fe67d6611e5fcbc642561a6a446de0f072608be6e95011a9958c2d +size 7199491 diff --git a/episodes/c5_p001_e008/data.npz b/episodes/c5_p001_e008/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..92b160d87b03005b019ff2afbf9efbecc9973e96 --- /dev/null +++ b/episodes/c5_p001_e008/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:35ffd45e96a903b64f6c0eb8c333e806f6ced5057de5096fdbba33e8b697e6df +size 199556 diff --git a/episodes/c5_p001_e008/device_events.jsonl b/episodes/c5_p001_e008/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc792e51ce377e3104af7c1e95d52d02c2116f9c --- /dev/null +++ b/episodes/c5_p001_e008/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "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": 0, "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": 0, "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": 0, "seq": 4, "step": 6619, "t": 33.095, "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": 7232, "t": 36.16, "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": 7232, "t": 36.16, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.33448973551425}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7232, "t": 36.16, "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": 7232, "t": 36.16, "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": 7232, "t": 36.16, "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": 7651, "t": 38.255, "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": 7651, "t": 38.255, "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": 7651, "t": 38.255, "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": 7651, "t": 38.255, "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": 7651, "t": 38.255, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7651, "t": 38.255, "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": 7651, "t": 38.255, "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": 7651, "t": 38.255, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.33448973551425}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 8118, "t": 40.59, "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": 8118, "t": 40.59, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.3350000000011946}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8118, "t": 40.59, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.3350000000011946}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8118, "t": 40.59, "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": 8118, "t": 40.59, "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": 8118, "t": 40.59, "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": 8538, "t": 42.69, "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": 8538, "t": 42.69, "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": 8538, "t": 42.69, "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": 8538, "t": 42.69, "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": 8538, "t": 42.69, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8538, "t": 42.69, "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": 9118, "t": 45.59, "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": 11336, "t": 56.68, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 33, "step": 11336, "t": 56.68, "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": 11336, "t": 56.68, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 11336, "t": 56.68, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p001_e008/env.mp4 b/episodes/c5_p001_e008/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2cde9ef420c54a24464d571953383d1fc04b88b3 --- /dev/null +++ b/episodes/c5_p001_e008/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43370f4e85d79fb011762c2d3853596e74a7d0ac587211fe61b139ee8ae95458 +size 1285893 diff --git a/episodes/c5_p001_e008/meta.json b/episodes/c5_p001_e008/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..205853ae1ad193f59ee73ab4353fd5f66aa25c79 --- /dev/null +++ b/episodes/c5_p001_e008/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/8", + "fps": 25, + "frames": 1225, + "kept_ticks": "even", + "video_frames": { + "wrist": 1225, + "env": 1225 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e008/scene_snapshot.json b/episodes/c5_p001_e008/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..c00b1ceb8bc0ab460424b6f58479a4d8bced0f8d --- /dev/null +++ b/episodes/c5_p001_e008/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 8, + "env_id": 0, + "run_id": "c5_p001", + "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_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5098752975463867, + 0.08571529388427734, + 0.8999999761581421 + ], + "ori": [ + 0.7111824154853821, + 0.0, + 0.0, + -0.7030075192451477 + ], + "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": [ + 1.345666308417981e-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": 0.20227629113426018, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.18553335216828223, + "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": 0.20227629113426018, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.029450416564941406, + 1.15252685546875, + 0.8999999761581421 + ], + "ori": [ + -0.01200603786855936, + -3.2217611911633526e-10, + -1.6615752107540516e-09, + 0.9999279379844666 + ], + "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": [ + -6.366298599402853e-10, + -2.0275643386469255e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 7.97679646780125e-08, + -8.15703060652595e-08, + -6.011522390991786e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.035186767578125, + 0.4474763870239258, + 0.8999999761581421 + ], + "ori": [ + 0.9999394416809082, + 3.957309147040178e-09, + -3.857164809772939e-09, + 0.011007881723344326 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.65393304291706e-11, + 6.600054947014655e-10, + 0.0 + ], + "angular_velocity": [ + 9.015552748792288e-09, + 2.0844248549423128e-09, + 5.1224886554734894e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6867685317993164, + 0.7154979705810547, + 0.8999999761581421 + ], + "ori": [ + 0.7928317189216614, + 1.1541940736492506e-08, + -7.165148474541638e-08, + 0.6094407439231873 + ], + "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": [ + -4.249649521170795e-10, + 2.557469791497624e-10, + 0.0 + ], + "angular_velocity": [ + -2.7024743332049184e-08, + -3.5530849373799356e-08, + 2.6881830095248915e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.342024803161621, + 0.9883804321289062, + 0.8999999761581421 + ], + "ori": [ + -0.47678688168525696, + 1.3351677807804663e-07, + -1.919577385933735e-08, + 0.8790189623832703 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4775278778245138e-09, + 1.9737234069339138e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 3.798128034304682e-09, + -6.561161569607066e-08, + 1.0273286221718081e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -0.03025531768798828, + 1.1557855606079102, + 0.9179999828338623 + ], + "ori": [ + -0.08642901480197906, + -4.5110876145670886e-10, + -6.521945650206362e-09, + 0.9962580800056458 + ], + "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": [ + 1.4622801636221539e-08, + -3.896686529003546e-09, + 1.341104507446289e-07 + ], + "angular_velocity": [ + -6.273115786825656e-07, + 1.6118779058160726e-06, + 3.9452171307630124e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -0.02541828155517578, + 0.4538297653198242, + 0.9180000424385071 + ], + "ori": [ + 0.9945492744445801, + 5.490599086499515e-09, + -4.089599325851623e-09, + 0.10426748543977737 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.8128016421314896e-08, + 1.6285439663477064e-09, + -5.330890417098999e-06 + ], + "angular_velocity": [ + 5.055740075476933e-07, + -1.1663996701827273e-06, + 1.0921009163666895e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.6782922744750977, + 0.7105646133422852, + 0.9180000424385071 + ], + "ori": [ + 0.8421492576599121, + 1.755453382656924e-08, + -6.975128030717315e-08, + 0.5392446517944336 + ], + "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": [ + -3.12149808223694e-08, + -1.0683159246127616e-08, + -5.9604644775390625e-06 + ], + "angular_velocity": [ + 1.7924704707183992e-06, + -4.264183814939315e-07, + 1.9069807422056329e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.3287677764892578, + 0.9900217056274414, + 0.9179999828338623 + ], + "ori": [ + -0.5343208312988281, + 1.3088738626265695e-07, + -2.6751415305170667e-08, + 0.8452818393707275 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9035493181718266e-08, + 8.597008616106905e-08, + -2.08243727684021e-06 + ], + "angular_velocity": [ + -3.6081419239053503e-06, + -1.294200728807482e-07, + 2.2595557425120205e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 7.899999999999854, + "step": 1580, + "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": 1.345666308417981e-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": 0.20227629113426018, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1387, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.17945042252540588, + 0.702526867389679, + 0.0 + ], + "carrier_2": [ + -0.18518677353858948, + -0.0025236010551452637, + 0.0 + ], + "carrier_3": [ + 1.536768525838852, + 0.26549798250198364, + 0.0 + ], + "carrier_4": [ + -1.4920248091220856, + 0.5383804440498352, + 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": [ + 0.5220897604893214, + -0.08877528561463077, + 3.0003200959137 + ], + "ori": [ + -12.784089896330102, + 2.3855041840611264, + -9.918755032497732 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6160.013810611603, + "color": [ + 0.8218099090356912, + 0.8299511576145822, + 0.86154527251204 + ], + "intensity": 9158.075449867792, + "width": 2.095345000319024, + "height": 1.2422660298261878 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.4393377663494551, + -0.5179368812550074, + 2.34434822347678 + ], + "ori": [ + 33.73387754430172, + 21.29470645415695, + -29.51326184135879 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5201.226704645656, + "color": [ + 0.9879550531953677, + 0.973140855468605, + 0.7691125867510902 + ], + "intensity": 5465.82306079905, + "radius": 0.11614098091362231 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1273.2575332631745, + "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": [ + [ + 0.9141125679016113, + -1.7193931341171265, + 2.090496301651001, + -1.9419001340866089, + -1.5707999467849731, + 2.4849064350128174, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.2496875524520874, + -1.605125069618225, + 2.105867862701416, + -2.077503204345703, + -1.5650547742843628, + 2.7912371158599854, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141008257865906, + -1.7193976640701294, + 2.0904996395111084, + -1.9419010877609253, + -1.5707999467849731, + 2.4849002361297607, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.289398431777954, + -1.5081509351730347, + 2.1849591732025146, + -2.2385342121124268, + -1.5720938444137573, + 2.841994524002075, + 0.007669225335121155, + 0.007038685493171215 + ] + ], + "joint_vel": [ + [ + -2.430537612867366e-38, + 1.5140895382377073e-38, + -2.1069284717488217e-38, + 4.881201010590997e-37, + -5.78648062435611e-37, + 4.201355567533832e-37, + 2.599039028439165e-08, + -2.599039206074849e-08 + ], + [ + -1.0217894669040106e-05, + -1.0217802810075227e-05, + -6.811923412897158e-06, + 2.043586937361397e-05, + -1.0217933777312282e-05, + -6.811959792685229e-06, + 2.9044663809457694e-12, + -3.0565738742133197e-12 + ], + [ + 2.826497475257158e-38, + -1.6420051067357482e-38, + 1.5538511019032311e-38, + -5.007201284347999e-37, + 4.235020361840771e-37, + -2.905056060829242e-37, + 2.5990388508034812e-08, + -2.5990388508034812e-08 + ], + [ + 3.311473847134039e-05, + 0.012192180380225182, + 0.00823111180216074, + -0.02082507498562336, + 0.0003526027430780232, + 0.00159367301966995, + -0.008060033433139324, + 0.0002069674083031714 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04981541633605957, + 0.002748640952631831, + -0.03055916540324688, + -0.27169767022132874, + 0.6542626023292542, + 0.6484854221343994, + -0.2785453498363495 + ], + [ + 0.05253167450428009, + 0.0019378979923203588, + -0.031002188101410866, + -0.2747602164745331, + 0.655931293964386, + 0.6409088373184204, + -0.2889581620693207 + ], + [ + 0.048299867659807205, + -0.0007328482461161911, + -0.028238218277692795, + -0.2951177656650543, + 0.639197051525116, + 0.6517133712768555, + -0.2821388244628906 + ], + [ + 0.05214136466383934, + 0.0023039442021399736, + -0.03096676431596279, + -0.2805771827697754, + 0.6435491442680359, + 0.660329282283783, + -0.26661983132362366 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e008/wrist.mp4 b/episodes/c5_p001_e008/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ee8507312d3e569577e9f74caa67711d6114c9ca --- /dev/null +++ b/episodes/c5_p001_e008/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25e6453779774426d6648fef915181d3fa57a36f34586503e6e642143991c63c +size 7200681 diff --git a/episodes/c5_p001_e009/data.npz b/episodes/c5_p001_e009/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..cabfa309103963839bf675e7de91c8c15e1401b0 --- /dev/null +++ b/episodes/c5_p001_e009/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb166723aa0b33790b6fabf8df52acde66c0306f48ac15488b68167dbdd36faa +size 187888 diff --git a/episodes/c5_p001_e009/device_events.jsonl b/episodes/c5_p001_e009/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..26426f25911d44733018a87b7f5c84e2b795b38f --- /dev/null +++ b/episodes/c5_p001_e009/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 114, "t": 0.57, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 114, "t": 0.57, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 119, "t": 0.595, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 5854, "t": 29.27, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6468, "t": 32.34, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 6468, "t": 32.34, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.46049210360439}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6468, "t": 32.34, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 6468, "t": 32.34, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 6468, "t": 32.34, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 6887, "t": 34.435, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 18, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.46049210360439}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7580, "t": 37.9, "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": 7580, "t": 37.9, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.4650000000017727}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7580, "t": 37.9, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.4650000000017727}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7580, "t": 37.9, "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": 7580, "t": 37.9, "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": 7580, "t": 37.9, "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": 8000, "t": 40.0, "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": 8000, "t": 40.0, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 9.966410509376633e-12}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8000, "t": 40.0, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 9.966410509376633e-12}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8000, "t": 40.0, "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": 8000, "t": 40.0, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8000, "t": 40.0, "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": 8573, "t": 42.865, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10296, "t": 51.48, "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": 10296, "t": 51.48, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10296, "t": 51.48, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10296, "t": 51.48, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p001_e009/env.mp4 b/episodes/c5_p001_e009/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1e9251381b5bf9b5955b70a319be555d49f23830 --- /dev/null +++ b/episodes/c5_p001_e009/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d1db362e210f3e3acec5760979aab095a368cc025eabbb1f53e0642e335d71b +size 1290053 diff --git a/episodes/c5_p001_e009/meta.json b/episodes/c5_p001_e009/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1dcb6a0da635ad72d11be2a1ec9bb863f9eeb0a1 --- /dev/null +++ b/episodes/c5_p001_e009/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/9", + "fps": 25, + "frames": 1218, + "kept_ticks": "even", + "video_frames": { + "wrist": 1218, + "env": 1218 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e009/scene_snapshot.json b/episodes/c5_p001_e009/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..21579dd5ba76cd438c0b252f9f646617ac67ed58 --- /dev/null +++ b/episodes/c5_p001_e009/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 9, + "env_id": 1, + "run_id": "c5_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.0092494331578883e-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": 0.19244993229589513, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.13561898189898655, + "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": 0.19244993229589513, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4632415771484375, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 4.841920599574223e-05, + -1.4065999920376271e-08, + -2.5586155416590373e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.110522007685688e-09, + -1.3989682745574328e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 5.193829366589853e-08, + -9.585117055621595e-08, + -2.2187116144323227e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6091108322143555, + 0.5693655014038086, + 0.8999999761581421 + ], + "ori": [ + 0.9144940972328186, + -1.4156761096728587e-08, + 6.616620140675877e-08, + 0.40459945797920227 + ], + "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": [ + 5.666203062304476e-10, + -2.9086377750786596e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 8.438907173058396e-08, + 1.4448443153014523e-07, + 3.142293181213063e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.014987945556640625, + 0.45000457763671875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.7212197767644284e-09, + 1.06172759473111e-09, + -3.207351983292028e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.775894124620095e-10, + 8.336545898046666e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -5.8891401977234636e-08, + 4.682731713501198e-08, + -5.156401972072899e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3424186706542969, + 0.6105785369873047, + 0.8999999761581421 + ], + "ori": [ + -0.8753824234008789, + -5.0778179883081975e-08, + -1.6314457695898454e-07, + 0.48343127965927124 + ], + "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": [ + -6.693881005048752e-10, + 2.6145698939217255e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.956658136099577e-07, + 1.0919757187366486e-07, + 5.2706241149280686e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.4773693084716797, + 1.1540775299072266, + 0.9179999828338623 + ], + "ori": [ + 0.045388590544462204, + -1.4066881881547033e-08, + -2.303928825497792e-09, + 0.9989694952964783 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3838553414302623e-08, + -1.8716836081011934e-08, + 1.4901161193847656e-07 + ], + "angular_velocity": [ + -7.957370229405569e-08, + 1.8229031866212608e-06, + 5.138708125684843e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.614450454711914, + 0.5594892501831055, + 0.9180000424385071 + ], + "ori": [ + 0.9083796739578247, + -1.3248370400731346e-08, + 6.661694129661555e-08, + 0.4181464612483978 + ], + "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": [ + -2.5319376817378725e-08, + -1.2783967662244322e-08, + -5.234032869338989e-06 + ], + "angular_velocity": [ + 1.099787482417014e-06, + -7.63101070333505e-07, + 1.3629794182179467e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.014070510864257812, + 0.4614448547363281, + 0.9179999828338623 + ], + "ori": [ + 0.9999130964279175, + 4.641180328945893e-09, + 1.1229538410262307e-09, + 0.01318418513983488 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.9094435749499326e-09, + 6.697272070255167e-09, + -5.763024091720581e-06 + ], + "angular_velocity": [ + 6.729104029545852e-07, + -1.5322175386245362e-06, + -2.8231449178406365e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.3398609161376953, + 0.6268768310546875, + 0.9180000424385071 + ], + "ori": [ + -0.8993938565254211, + -5.083769494262924e-08, + -1.7737531265993312e-07, + 0.437139093875885 + ], + "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": [ + -1.331001158177969e-07, + -8.943447937781457e-08, + 2.682209014892578e-07 + ], + "angular_velocity": [ + 5.573019734583795e-07, + -6.6654647525865585e-06, + -5.291488491820928e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 2.9999999999999583, + "step": 600, + "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": 1.0092494331578883e-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": 0.19244993229589513, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 485, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.313241571187973, + 0.6999967694282532, + 0.0 + ], + "carrier_2": [ + 1.459110826253891, + 0.11936551332473755, + 0.0 + ], + "carrier_3": [ + -0.13501206040382385, + 4.589557647705078e-06, + 0.0 + ], + "carrier_4": [ + -1.4924186766147614, + 0.16057854890823364, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.6673672915858923, + 0.09380374895043175, + 2.9425357153668474 + ], + "ori": [ + 1.5727356833152903, + -9.61396256716742, + 22.391786500195906 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3946.244583823105, + "color": [ + 0.8349418518329786, + 0.8604197235475517, + 0.9494388259529113 + ], + "intensity": 4935.656470080758, + "width": 2.704787248832759, + "height": 1.5181634018175467 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.6876657516870882, + 1.2675389940506234, + 2.202374227163428 + ], + "ori": [ + 34.06813269275658, + -12.959775683285855, + 20.41771017546705 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6802.0894306154605, + "color": [ + 0.7671819572345661, + 0.9634888048973191, + 0.8027066132578309 + ], + "intensity": 6070.283433361514, + "radius": 0.17695542752174315 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1273.2575332631745, + "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": [ + [ + 1.0714561939239502, + -1.228973150253296, + 2.156731128692627, + -2.4985578060150146, + -1.5707964897155762, + 2.4333455562591553, + 0.007632437627762556, + 0.00702671566978097 + ], + [ + 0.9141035079956055, + -1.7193965911865234, + 2.090498447418213, + -1.9419001340866089, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141008257865906, + -1.7193976640701294, + 2.0904996395111084, + -1.9419010877609253, + -1.5707999467849731, + 2.4849002361297607, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.290627360343933, + -1.538732886314392, + 2.161170482635498, + -2.1923704147338867, + -1.5709718465805054, + 2.8405888080596924, + 0.017999965697526932, + 0.018000034615397453 + ] + ], + "joint_vel": [ + [ + 0.0001308816426899284, + -0.007702362257987261, + -0.0024369629099965096, + 0.009414800442755222, + -7.786356036376674e-06, + -0.00015276679187081754, + -0.007723848335444927, + 0.0002674899878911674 + ], + [ + 3.405965117053711e-06, + 6.8118747549306136e-06, + -1.870260023240089e-11, + -3.0810826980032235e-12, + -1.7604137819791227e-13, + 8.900230812763921e-13, + -1.4711596199069865e-13, + 7.139746693168858e-13 + ], + [ + 2.826497475257158e-38, + -1.6420051067357482e-38, + 1.5538511019032311e-38, + -5.007201284347999e-37, + 4.235020361840771e-37, + -2.905056060829242e-37, + 2.5990388508034812e-08, + -2.5990388508034812e-08 + ], + [ + 0.00012821625568903983, + -0.01430082879960537, + -0.011927393265068531, + 0.024982251226902008, + 8.820647053653374e-06, + 4.260677144429792e-07, + 6.33456647847197e-06, + -6.3583770497643854e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.0504005067050457, + -0.002194612752646208, + -0.02989935129880905, + -0.2745828926563263, + 0.6576047539710999, + 0.6440806984901428, + -0.2780652940273285 + ], + [ + 0.054076045751571655, + 0.0013404127676039934, + -0.030981983989477158, + -0.27519556879997253, + 0.6540988683700562, + 0.6441463232040405, + -0.2854778468608856 + ], + [ + 0.050666313618421555, + -0.00041590491309762, + -0.03172518312931061, + -0.2931061089038849, + 0.6433826088905334, + 0.6492810249328613, + -0.2803245484828949 + ], + [ + 0.051921915262937546, + 0.0008670977549627423, + -0.033552318811416626, + -0.28928855061531067, + 0.6382782459259033, + 0.6594796180725098, + -0.27202871441841125 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e009/wrist.mp4 b/episodes/c5_p001_e009/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7fa3356227fdced1387d0038f58932c88dd0521e --- /dev/null +++ b/episodes/c5_p001_e009/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:094c6b7e6de0cb018f9a426911b13238e17b815590a10848ad9f1e0a8e0ede9e +size 8097917 diff --git a/episodes/c5_p001_e010/data.npz b/episodes/c5_p001_e010/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..b04a29237771033efc8371ce534593b555694fcd --- /dev/null +++ b/episodes/c5_p001_e010/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0193bdcc8848a2ea689112a1fa26e6b4f0bc6eeb72373784f4f4f161892b94c +size 204272 diff --git a/episodes/c5_p001_e010/device_events.jsonl b/episodes/c5_p001_e010/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3bb8d911a5fa8d38bedb015d24717ad2a0aa801b --- /dev/null +++ b/episodes/c5_p001_e010/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 126, "t": 0.63, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 126, "t": 0.63, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 131, "t": 0.655, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 2238, "t": 11.19, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 7319, "t": 36.595, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 7932, "t": 39.66, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7932, "t": 39.66, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.293868476796595}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 7932, "t": 39.66, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 9, "step": 7932, "t": 39.66, "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": 7932, "t": 39.66, "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": 8351, "t": 41.755, "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": 8351, "t": 41.755, "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": 8351, "t": 41.755, "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": 8351, "t": 41.755, "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": 8351, "t": 41.755, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 8351, "t": 41.755, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 8351, "t": 41.755, "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": 8351, "t": 41.755, "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": 8351, "t": 41.755, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.293868476796595}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 9210, "t": 46.05, "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": 9210, "t": 46.05, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.295000000002197}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 9210, "t": 46.05, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.295000000002197}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 9210, "t": 46.05, "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": 9210, "t": 46.05, "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": 9210, "t": 46.05, "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": 9630, "t": 48.15, "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": 9630, "t": 48.15, "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": 9630, "t": 48.15, "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": 9630, "t": 48.15, "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": 9630, "t": 48.15, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 9630, "t": 48.15, "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": 10211, "t": 51.055, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 12428, "t": 62.14, "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": 12428, "t": 62.14, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 12428, "t": 62.14, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 12428, "t": 62.14, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p001_e010/env.mp4 b/episodes/c5_p001_e010/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1c00b3bd2db1df7a4f31446e6511edf48f81d97b --- /dev/null +++ b/episodes/c5_p001_e010/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2494025543e762822b0debd2fd2cbdcecae9c2d156e4924a5f053c2e217ac983 +size 1412363 diff --git a/episodes/c5_p001_e010/meta.json b/episodes/c5_p001_e010/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2f5406f2536c84f6be820cea7e0034de3aececbd --- /dev/null +++ b/episodes/c5_p001_e010/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/10", + "fps": 25, + "frames": 1333, + "kept_ticks": "even", + "video_frames": { + "wrist": 1333, + "env": 1333 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e010/scene_snapshot.json b/episodes/c5_p001_e010/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..f392b7cb292e0ff2a20c48eabcd3d592d0f245a5 --- /dev/null +++ b/episodes/c5_p001_e010/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 10, + "env_id": 2, + "run_id": "c5_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.17048803144684158, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.19348688488991161, + "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": 0.17048803144684158, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.529153823852539, + 0.5029506683349609, + 0.8999999761581421 + ], + "ori": [ + 0.9640619158744812, + -9.359823138765933e-09, + -1.0097640057438184e-07, + 0.2656779885292053 + ], + "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": [ + 3.364477585421355e-10, + 1.1973011471155814e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.594659918031539e-07, + -5.722418450204714e-08, + 3.309834539777512e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3601484298706055, + 0.6436758041381836, + 0.8999999761581421 + ], + "ori": [ + -0.8439875245094299, + 1.9029839037898455e-08, + 4.0646735754990004e-08, + 0.536362886428833 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1568310753773403e-09, + 4.069626413638616e-09, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -2.251225339477969e-07, + 3.5831627087645757e-07, + -8.164399645238518e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.04391765594482422, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.3209519034163009e-09, + -3.947517424052194e-09, + 1.1771592198783765e-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": [ + 1.644817615442662e-09, + 4.6494985639355946e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 2.0051651006269822e-08, + 1.5158025234995876e-07, + -2.148512123767432e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.155364990234375, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + -5.2375407904037274e-06, + -1.126265836148832e-08, + 3.2019698004148722e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3149539235257635e-09, + -5.018985671512155e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 2.7238866096013226e-07, + 1.313181883233483e-07, + 1.039380492784403e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.5131340026855469, + 0.5003280639648438, + 0.9179999828338623 + ], + "ori": [ + 0.9554932117462158, + -1.271739158426044e-08, + -9.870027639635737e-08, + 0.29501304030418396 + ], + "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": [ + 4.068919423616535e-09, + -3.739753395848311e-08, + 1.7881393432617188e-07 + ], + "angular_velocity": [ + 2.4655375909787836e-06, + -6.892464625707362e-07, + 7.614190167259949e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.3725557327270508, + 0.6498174667358398, + 0.9180000424385071 + ], + "ori": [ + -0.8412280082702637, + 1.7876597979693543e-08, + 3.9451549582736334e-08, + 0.5406805276870728 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.3645961633178558e-08, + 8.064856871214943e-08, + -5.342066287994385e-06 + ], + "angular_velocity": [ + -2.5320719032606576e-06, + 6.687424729534541e-07, + 2.9512852961488534e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -0.03940868377685547, + 0.4529600143432617, + 0.9180000424385071 + ], + "ori": [ + 0.9987195730209351, + 1.6514644096687903e-09, + -2.7449822415093195e-09, + -0.05058903992176056 + ], + "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": [ + -3.5373870499455506e-09, + 8.299381626386548e-09, + -5.45009970664978e-06 + ], + "angular_velocity": [ + 5.027649194744299e-07, + -1.8031238369076164e-06, + -3.8671014834790185e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.1443471908569336, + 1.1615476608276367, + 0.9179999828338623 + ], + "ori": [ + 0.012808413244783878, + -1.1899298435480432e-08, + 1.2153997808184158e-09, + 0.9999179840087891 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.65189653861853e-08, + -6.785689521393579e-08, + -1.166015863418579e-06 + ], + "angular_velocity": [ + 1.5735508895886596e-06, + 2.6244854325341294e-06, + 1.418126487351401e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 9.08000000000002, + "step": 1816, + "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": 0.17048803144684158, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1689, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.3791538178920746, + 0.05295068025588989, + 0.0 + ], + "carrier_2": [ + -1.51014843583107, + 0.19367581605911255, + 0.0 + ], + "carrier_3": [ + -0.1939176619052887, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_4": [ + 0.0053649842739105225, + 0.6999977231025696, + 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 + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.24650289339076692, + -0.21379433564061057, + 2.636285740666319 + ], + "ori": [ + 1.7684214968850647, + 8.436001583538257, + -8.41921669686461 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4602.128890437882, + "color": [ + 0.919069360259266, + 0.8850113647531939, + 0.9466203905780588 + ], + "intensity": 4632.120930122229, + "width": 2.3045071284210144, + "height": 0.8154133767600886 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.7370271351438764, + -0.4162109978766847, + 2.0035828731817156 + ], + "ori": [ + -14.166366598583771, + -2.0499428084461613, + -8.931431967461265 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5012.887528060493, + "color": [ + 0.7614179945983451, + 0.8168232899735248, + 0.8909807148652484 + ], + "intensity": 5182.516814828537, + "radius": 0.20749843206685237 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1273.2575332631745, + "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": [ + [ + 1.5263608694076538, + -1.8350746631622314, + 2.197103500366211, + -1.933171033859253, + -1.5709214210510254, + 2.9641618728637695, + 0.008544620126485825, + 0.006174965761601925 + ], + [ + 0.9755021333694458, + -1.4435633420944214, + 2.068101406097412, + -2.1953840255737305, + -1.5707803964614868, + 2.519991397857666, + 0.007115676533430815, + 0.006568348500877619 + ], + [ + 0.9141024351119995, + -1.7193989753723145, + 2.0905001163482666, + -1.9419010877609253, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.06391177326440811, + -0.05506948381662369, + 0.020584331825375557, + 0.030783163383603096, + 8.196063572540879e-05, + 0.0719226598739624, + -0.007145537994801998, + 0.00042384478729218245 + ], + [ + 0.00012850518396589905, + -0.01272762380540371, + -0.010182542726397514, + 0.021816730499267578, + -0.0002912783529609442, + -0.0011769859120249748, + -0.00751871382817626, + -0.000143747529364191 + ], + [ + 0.0, + 2.8777642598341745e-38, + 2.780060125707591e-38, + 4.324564903165407e-37, + -6.43942068848273e-37, + -8.564792714307364e-37, + 7.272838802296461e-38, + -6.898952193316713e-38 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05005079135298729, + -0.00044474145397543907, + -0.031120261177420616, + -0.26668548583984375, + 0.6575397849082947, + 0.645887017250061, + -0.2816918194293976 + ], + [ + 0.05346545949578285, + 0.0028328844346106052, + -0.032275453209877014, + -0.2746569514274597, + 0.6529293656349182, + 0.6453350782394409, + -0.285988450050354 + ], + [ + 0.04735271632671356, + -0.0003563050995580852, + -0.030320119112730026, + -0.2897644340991974, + 0.6407720446586609, + 0.6544812321662903, + -0.2776726484298706 + ], + [ + 0.05293527618050575, + 0.0027563029434531927, + -0.032097987830638885, + -0.2808280885219574, + 0.6440070271492004, + 0.6587628722190857, + -0.2691134512424469 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e010/wrist.mp4 b/episodes/c5_p001_e010/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a1422c91aec3a3e4dc48e7d2a56190fbcd1ec05d --- /dev/null +++ b/episodes/c5_p001_e010/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1cf1fdc9b80605ebec47da900bb3a40440d31d484641cf6f2f2a8ffa10a31c43 +size 7681514 diff --git a/episodes/c5_p001_e011/data.npz b/episodes/c5_p001_e011/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..93d934b250b3f8a9c96c2fcc49177b6e20e6ac78 --- /dev/null +++ b/episodes/c5_p001_e011/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12ad4e8579f0dee22219cd5ac97f2110c60462571b9bfb78bbfed735ce93cea4 +size 192942 diff --git a/episodes/c5_p001_e011/device_events.jsonl b/episodes/c5_p001_e011/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa8e040ba421b21d0b6ac3e0285dbc7b33fb8b7c --- /dev/null +++ b/episodes/c5_p001_e011/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 106, "t": 0.53, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 106, "t": 0.53, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 111, "t": 0.555, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 2297, "t": 11.485, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7095, "t": 35.475, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 7708, "t": 38.54, "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": 7708, "t": 38.54, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.471477499697453}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 7708, "t": 38.54, "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": 7708, "t": 38.54, "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": 7708, "t": 38.54, "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": 8127, "t": 40.635, "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": 8127, "t": 40.635, "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": 8127, "t": 40.635, "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": 8127, "t": 40.635, "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": 8127, "t": 40.635, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 8127, "t": 40.635, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 8127, "t": 40.635, "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": 8127, "t": 40.635, "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": 8127, "t": 40.635, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.471477499697453}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 9022, "t": 45.11, "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": 9022, "t": 45.11, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.475000000002289}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 9022, "t": 45.11, "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": 4.475000000002289}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 9022, "t": 45.11, "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": 9022, "t": 45.11, "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": 9022, "t": 45.11, "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": 9442, "t": 47.21, "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": 9442, "t": 47.21, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.528774577572392e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 9442, "t": 47.21, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.528774577572392e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 9442, "t": 47.21, "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": 9442, "t": 47.21, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 9442, "t": 47.21, "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": 10023, "t": 50.115, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 33, "step": 11800, "t": 59.0, "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": 11800, "t": 59.0, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 11800, "t": 59.0, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 11800, "t": 59.0, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p001_e011/env.mp4 b/episodes/c5_p001_e011/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..09a4f289cf3cedbd7970ea03b0b63c09607198f1 --- /dev/null +++ b/episodes/c5_p001_e011/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5a794f2cb75d74584f876930ae55d05322214c793866deaa8853456d605402c +size 1251924 diff --git a/episodes/c5_p001_e011/meta.json b/episodes/c5_p001_e011/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2723015d64fb62f226899c61a331eb70acf13b2b --- /dev/null +++ b/episodes/c5_p001_e011/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/11", + "fps": 25, + "frames": 1248, + "kept_ticks": "even", + "video_frames": { + "wrist": 1248, + "env": 1248 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e011/scene_snapshot.json b/episodes/c5_p001_e011/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..3ef0af54f924290c347bddd18261bc2a76eebc2c --- /dev/null +++ b/episodes/c5_p001_e011/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 11, + "env_id": 3, + "run_id": "c5_p001", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48097991943359375, + 0.1065673828125, + 0.8999999761581421 + ], + "ori": [ + 0.726047158241272, + 0.0, + 0.0, + -0.687644898891449 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.364164415792237e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2958635841081464, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2871869939355539, + "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": 0.2958635841081464, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.13700103759765625, + 0.44733238220214844, + 0.8999999761581421 + ], + "ori": [ + 0.9999754428863525, + -7.465259521666212e-09, + 6.537085095459361e-09, + 0.007004669867455959 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.869296408420269e-10, + 5.596965668708265e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 2.9969299930598936e-08, + 8.27863857466582e-08, + -2.705943558112267e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.422189712524414, + 0.4608325958251953, + 0.8999999761581421 + ], + "ori": [ + 0.9953053593635559, + -1.5416278031921138e-08, + 8.864159894983459e-08, + 0.09678424149751663 + ], + "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": [ + 8.123564043671649e-10, + -1.3599414927512044e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 2.2775425989607356e-08, + 6.956852161010829e-08, + 6.496060578342622e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.329991340637207, + 1.0050830841064453, + 0.8999999761581421 + ], + "ori": [ + -0.44323474168777466, + 2.1322957621805472e-08, + -1.2473419630509852e-08, + 0.8964056372642517 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.07726960264199e-09, + -6.2528475730516675e-09, + 3.725290298461914e-08 + ], + "angular_velocity": [ + 5.096680979477242e-07, + -1.4407817161554703e-07, + -2.476807594575803e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.15320587158203125, + 1.1499958038330078, + 0.8999999761581421 + ], + "ori": [ + 7.668252510484308e-05, + 1.7530986662350756e-09, + -8.23162538132749e-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": [ + -2.664783504968682e-09, + -2.12843076496938e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 1.1858439563638967e-07, + -2.4858692881934985e-07, + -2.3604448173841774e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -0.13851261138916016, + 0.4361286163330078, + 0.9179999828338623 + ], + "ori": [ + 0.9967243671417236, + -8.204256829458245e-09, + 7.154881576099115e-09, + 0.08087427169084549 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.5938508230183288e-08, + 1.564525575759035e-08, + 1.2293457984924316e-07 + ], + "angular_velocity": [ + 5.608866615602892e-08, + -1.576653630763758e-06, + 1.1390454091042557e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 1.4253950119018555, + 0.46871280670166016, + 0.9180000424385071 + ], + "ori": [ + 0.9917641282081604, + -3.753359933966749e-08, + 8.965062647803279e-08, + 0.12807811796665192 + ], + "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": [ + -5.222528898229939e-08, + -1.01353272441429e-07, + -6.120651960372925e-06 + ], + "angular_velocity": [ + 1.1835727491416037e-05, + -1.6483895706187468e-06, + 3.411796001273615e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.3287630081176758, + 0.9921579360961914, + 0.9180000424385071 + ], + "ori": [ + -0.3585220277309418, + -7.618679376264481e-08, + 1.0618654755489843e-07, + 0.9335213303565979 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.043760782224126e-06, + 1.0774730299090152e-06, + -5.532056093215942e-06 + ], + "angular_velocity": [ + -4.517401976045221e-06, + 8.870119927451015e-07, + 2.9388884286163375e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.14803028106689453, + 1.1516990661621094, + 0.9179999828338623 + ], + "ori": [ + -0.002559305401518941, + 4.30884217195171e-10, + -8.447294419511309e-09, + 0.9999967217445374 + ], + "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": [ + 2.993285264096812e-08, + -4.609772563668457e-09, + -2.089887857437134e-06 + ], + "angular_velocity": [ + -3.10851760332298e-07, + 1.5996041611288092e-06, + -2.3390189340943834e-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": 9.220000000000041, + "step": 1844, + "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": 3.364164415792237e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2958635841081464, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1737, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.2870010435581207, + -0.0026676058769226074, + 0.0 + ], + "carrier_2": [ + 1.2721897065639496, + 0.010832607746124268, + 0.0 + ], + "carrier_3": [ + -1.4799913465976715, + 0.5550830960273743, + 0.0 + ], + "carrier_4": [ + 0.0032058656215667725, + 0.6999958157539368, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.32153571049917207, + -0.3439696557765805, + 3.0545591481478294 + ], + "ori": [ + -13.752098447293871, + -7.276261803178285, + 25.28449486488759 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6340.855279782692, + "color": [ + 0.945906540956249, + 0.9940245562624019, + 0.8416170893900895 + ], + "intensity": 11761.741672491353, + "width": 1.463819413631443, + "height": 0.8919146704874098 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.6340583259468402, + -0.9919750496924542, + 1.8374305892410219 + ], + "ori": [ + -37.14208516592745, + 16.692307243177297, + 13.462120315382847 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5576.134585612528, + "color": [ + 0.9726517979452243, + 0.868204862452882, + 0.9284577767408658 + ], + "intensity": 6542.939310339604, + "radius": 0.14181373393509095 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1273.2575332631745, + "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": [ + [ + 2.6841161251068115, + -1.9382333755493164, + 2.2789223194122314, + -1.9117692708969116, + -1.5713220834732056, + 4.253079414367676, + 0.01800002157688141, + 0.017999976873397827 + ], + [ + 2.735131025314331, + -1.8941569328308105, + 1.8975013494491577, + -1.573913812637329, + -1.5713988542556763, + 4.312785625457764, + 0.007160253822803497, + 0.006525895558297634 + ], + [ + 1.046148419380188, + -1.5564391613006592, + 2.1548068523406982, + -2.1691997051239014, + -1.57076096534729, + 2.7187070846557617, + 0.008335771970450878, + 0.00651211105287075 + ], + [ + 0.9141041040420532, + -1.7193961143493652, + 2.0904972553253174, + -1.9419001340866089, + -1.5707999467849731, + 2.4849021434783936, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -0.010847093537449837, + -0.02536671981215477, + 0.01461712270975113, + 0.010259970091283321, + -1.0563293471932411e-05, + -0.010967513546347618, + -2.882383341784589e-06, + 2.8824385935877217e-06 + ], + [ + 0.008844775147736073, + 0.022546762600541115, + -0.014219183474779129, + -0.007534537464380264, + 0.00030187744414433837, + 0.00825335644185543, + -0.008441787213087082, + 0.00012814076035283506 + ], + [ + 0.0026464287657290697, + 0.00012692317250184715, + -0.0020861937664449215, + 0.004526624456048012, + -0.0015639333287253976, + -0.008301001973450184, + -0.0064011430367827415, + 0.00023238698486238718 + ], + [ + -2.2234963252827602e-38, + 2.294787945174671e-38, + 1.8823384432357832e-38, + 3.5701558083021326e-37, + -6.2362162681973225e-37, + -3.9788446175263427e-38, + 2.599039028439165e-08, + -2.599039028439165e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05117672309279442, + -0.001152727403678, + -0.031207207590341568, + -0.2723575234413147, + 0.6540328860282898, + 0.6478752493858337, + -0.2798571288585663 + ], + [ + 0.05159493535757065, + 0.002216756111010909, + -0.031231272965669632, + -0.2806718945503235, + 0.6551015973091125, + 0.6422585844993591, + -0.28207990527153015 + ], + [ + 0.04810277000069618, + -0.00021142122568562627, + -0.03241019323468208, + -0.29540714621543884, + 0.6442820429801941, + 0.6471901535987854, + -0.2806781232357025 + ], + [ + 0.051424846053123474, + 0.002006913535296917, + -0.030061135068535805, + -0.28138846158981323, + 0.6429614424705505, + 0.6593450903892517, + -0.26960188150405884 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e011/wrist.mp4 b/episodes/c5_p001_e011/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d1752e0b998d1b682b60c9cc42525fcad5d56ecd --- /dev/null +++ b/episodes/c5_p001_e011/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:850179ae315bc523e0cfbd8cdca1b6e34579a351025802b4eeb4b5ed44d817c8 +size 7826132 diff --git a/episodes/c5_p001_e012/data.npz b/episodes/c5_p001_e012/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..17fc68e8392d50f889ddf6e2ea0270b5ca23d044 --- /dev/null +++ b/episodes/c5_p001_e012/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:476f71092866bc3737180dd0150dc26367e77c7b955402d0dddc9a1006dc485a +size 188112 diff --git a/episodes/c5_p001_e012/device_events.jsonl b/episodes/c5_p001_e012/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a09017e4b56c7663490deb743d0847cc60520893 --- /dev/null +++ b/episodes/c5_p001_e012/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 104, "t": 0.52, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 104, "t": 0.52, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 109, "t": 0.545, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 5271, "t": 26.355, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 5884, "t": 29.42, "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": 5884, "t": 29.42, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.5711061892781126}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 5884, "t": 29.42, "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": 5884, "t": 29.42, "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": 5884, "t": 29.42, "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": 6303, "t": 31.515, "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": 6303, "t": 31.515, "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": 6303, "t": 31.515, "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": 6303, "t": 31.515, "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": 6303, "t": 31.515, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 6303, "t": 31.515, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 6303, "t": 31.515, "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": 6303, "t": 31.515, "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": 6303, "t": 31.515, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.5711061892781126}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 6818, "t": 34.09, "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": 6818, "t": 34.09, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.5750000000009727}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 6818, "t": 34.09, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.5750000000009727}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 6818, "t": 34.09, "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": 6818, "t": 34.09, "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": 6818, "t": 34.09, "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": 7238, "t": 36.19, "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": 7238, "t": 36.19, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.0387050941584874e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 7238, "t": 36.19, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.0387050941584874e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 7238, "t": 36.19, "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": 7238, "t": 36.19, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 7238, "t": 36.19, "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": 7818, "t": 39.09, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 9500, "t": 47.5, "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": 9500, "t": 47.5, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 9500, "t": 47.5, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 9500, "t": 47.5, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p001_e012/env.mp4 b/episodes/c5_p001_e012/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cc9c65d1fcb959785e6eca7e7373b6112e67546b --- /dev/null +++ b/episodes/c5_p001_e012/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b760b335eb06b0671e66f1f78a577313b628d5b8a835ae491fc0ea7ac95a2dc5 +size 1288838 diff --git a/episodes/c5_p001_e012/meta.json b/episodes/c5_p001_e012/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e98a7da045e643800132c8442b9cee9198ebf37b --- /dev/null +++ b/episodes/c5_p001_e012/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/12", + "fps": 25, + "frames": 1168, + "kept_ticks": "even", + "video_frames": { + "wrist": 1168, + "env": 1168 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e012/scene_snapshot.json b/episodes/c5_p001_e012/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..39e7222c5f9ea24f7d6285b49ab913e7e60540c5 --- /dev/null +++ b/episodes/c5_p001_e012/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 12, + "env_id": 0, + "run_id": "c5_p001", + "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_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5098752975463867, + 0.08571529388427734, + 0.8999999761581421 + ], + "ori": [ + 0.7111824154853821, + 0.0, + 0.0, + -0.7030075192451477 + ], + "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": 0.20004135250053437, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.07694345949119646, + "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": 0.20004135250053437, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2862796783447266, + 0.5431652069091797, + 0.8999999761581421 + ], + "ori": [ + -0.9312763214111328, + -2.4508750584573136e-08, + 1.9055538302836794e-07, + 0.3643137216567993 + ], + "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": [ + -7.017304142209468e-07, + 9.074798867914069e-07, + -2.566725015640259e-06 + ], + "angular_velocity": [ + -7.241067214636132e-05, + -7.127980643417686e-05, + -2.355388005526038e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.28724098205566406, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + -2.5950721465051174e-05, + -9.848439841420031e-10, + 3.2046225673099116e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.680494184038935e-10, + -7.662963041887849e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 6.796798146524452e-08, + 9.487850149980659e-08, + -3.7024354693215855e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.07308101654052734, + 0.4499988555908203, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.5200726777873115e-09, + -3.0889308888504274e-09, + -2.524727733543841e-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": [ + 3.866444941991176e-10, + -3.904815359945246e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 4.021333666059945e-08, + 3.2681864325923016e-08, + -2.9259168421447157e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6566104888916016, + 0.6370735168457031, + 0.8999999761581421 + ], + "ori": [ + 0.8582302927970886, + -3.9211997204802174e-08, + 4.196846603576887e-08, + 0.5132647156715393 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.0215053509484733e-10, + 8.433549414377239e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -6.388818007962982e-08, + -1.4456547070551551e-08, + 8.476832569215276e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -1.2851238250732422, + 0.5338582992553711, + 0.9179999828338623 + ], + "ori": [ + -0.8882473707199097, + 8.57291411193728e-08, + 2.4415655275333847e-08, + 0.4593655467033386 + ], + "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": [ + -1.1172116956004174e-06, + 6.023902187735075e-06, + -6.534159183502197e-06 + ], + "angular_velocity": [ + -0.00017173598462250084, + 3.3441028790548444e-06, + 1.8868060578824952e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.2796478271484375, + 1.1446504592895508, + 0.9180000424385071 + ], + "ori": [ + 0.004635826218873262, + -8.354481551009485e-10, + 1.2620606781865717e-09, + 0.9999893307685852 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.757245371436511e-08, + -7.161889303830549e-09, + -5.0514936447143555e-06 + ], + "angular_velocity": [ + -2.3136666982281895e-07, + 1.2974383025721181e-06, + 1.1552748446774785e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.06004810333251953, + 0.4602680206298828, + 0.9180000424385071 + ], + "ori": [ + 0.9970367550849915, + 3.438412887746267e-09, + -2.8877660263049165e-09, + 0.07692765444517136 + ], + "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": [ + -9.123853672576843e-09, + -1.9114552163301823e-09, + -5.45009970664978e-06 + ], + "angular_velocity": [ + 1.3429743148662965e-06, + -1.967979414985166e-06, + -3.850855279097232e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.6617317199707031, + 0.6283645629882812, + 0.9179999828338623 + ], + "ori": [ + 0.8188307881355286, + -3.6520667379136285e-08, + 4.226032146448233e-08, + 0.5740350484848022 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.363153642359066e-09, + -4.33304059299644e-08, + -1.2740492820739746e-06 + ], + "angular_velocity": [ + 2.3373531803372316e-06, + -7.110376714081212e-07, + -9.20696621165007e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 1.0000000000000007, + "step": 200, + "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": 0.20004135250053437, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 95, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.436279684305191, + 0.09316521883010864, + 0.0 + ], + "carrier_2": [ + 0.13724097609519958, + 0.699998676776886, + 0.0 + ], + "carrier_3": [ + -0.07691898941993713, + -1.1324882507324219e-06, + 0.0 + ], + "carrier_4": [ + 1.506610482931137, + 0.18707352876663208, + 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": [ + -0.3040022353453038, + -0.32329577135243276, + 2.820255785328331 + ], + "ori": [ + 7.525052129929158, + 0.5192804556376895, + 13.823193828749467 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4963.98894975073, + "color": [ + 0.9712582739943578, + 0.9712036495563349, + 0.8231424310561672 + ], + "intensity": 8796.161737035214, + "width": 2.687319738561575, + "height": 1.17580703077462 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.7877162102102062, + 1.146111966948706, + 2.294222909287848 + ], + "ori": [ + -18.936262389177003, + 20.25686720592862, + 25.96881989642648 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7334.161815175278, + "color": [ + 0.8149644773904818, + 0.8047439278772127, + 0.808582134201967 + ], + "intensity": 2140.5225311492636, + "radius": 0.13363525225927264 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1057.600727215431, + "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 + ], + [ + 1.551021695137024, + -1.2810173034667969, + 2.233987331390381, + -2.5238735675811768, + -1.5702383518218994, + 6.270862102508545, + 0.017999999225139618, + 0.01799999736249447 + ], + [ + -0.26152920722961426, + -2.1569387912750244, + 2.4041566848754883, + -1.8179566860198975, + -1.5707868337631226, + 4.434383392333984, + 0.0077916039153933525, + 0.007002079859375954 + ], + [ + 0.030875787138938904, + -2.2327916622161865, + 2.3454833030700684, + -1.683333396911621, + -1.5699512958526611, + 4.7844085693359375, + 0.018000004813075066, + 0.01799999363720417 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 1.021789648802951e-05, + 1.0217853741778526e-05, + -1.3623897757497616e-05, + -2.043585482169874e-05, + 3.405978532100562e-06, + -2.7247837351751514e-05, + -1.2759552962815501e-11, + 2.598115500518361e-08 + ], + [ + -0.00039934611413627863, + -0.0002053589269053191, + -0.0004629199975170195, + -2.9641707442351617e-05, + -0.0011997823603451252, + 0.002614138647913933, + -0.009761693887412548, + 0.00037145428359508514 + ], + [ + -1.5965414945640077e-07, + -6.8118552007945254e-06, + -6.811920684413053e-06, + 7.740210382356505e-12, + 7.94701896520214e-15, + -1.7524254481348853e-14, + -7.797131473807895e-08, + 7.797122947295065e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05185768008232117, + 0.0007595770875923336, + -0.03208395466208458, + -0.270328164100647, + 0.64947909116745, + 0.6538773775100708, + -0.2784670889377594 + ], + [ + 0.05227494612336159, + 0.0006358136888593435, + -0.03265829384326935, + -0.27598387002944946, + 0.652448296546936, + 0.6438779234886169, + -0.28907668590545654 + ], + [ + 0.048180218786001205, + -0.0009225823450833559, + -0.03391828015446663, + -0.2919885516166687, + 0.6419013738632202, + 0.6490333080291748, + -0.285413920879364 + ], + [ + 0.05222900211811066, + 0.00013957114424556494, + -0.033161357045173645, + -0.2850540578365326, + 0.6405091285705566, + 0.6611567735671997, + -0.2671404182910919 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e012/wrist.mp4 b/episodes/c5_p001_e012/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5fa8e5a335a2a1a351e3f390f182c8b8bf0b84ae --- /dev/null +++ b/episodes/c5_p001_e012/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:caacac3590496ea32e423a6e7ff9dfb0719b0682f40a1b07f23de78ffc7397de +size 8038756 diff --git a/episodes/c5_p001_e013/data.npz b/episodes/c5_p001_e013/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..54883fc2ef7cde772ea77a523788345ba6f6abe9 --- /dev/null +++ b/episodes/c5_p001_e013/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fed505092c9dbf1cb399fad00d0e74775f87ac57a6eafbe3ac32f58add262224 +size 186848 diff --git a/episodes/c5_p001_e013/device_events.jsonl b/episodes/c5_p001_e013/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ae36725f8f5a993b7bdb769871dffd9d4336ec0 --- /dev/null +++ b/episodes/c5_p001_e013/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 1, "seq": 1, "step": 140, "t": 0.7, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "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": 1, "seq": 3, "step": 145, "t": 0.725, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1755, "t": 8.775, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 1773, "t": 8.865, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 6526, "t": 32.63, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 7, "step": 7140, "t": 35.7, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 7140, "t": 35.7, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.6439126528034198}, "cause": "task-1-1"} +{"env_id": 1, "seq": 9, "step": 7140, "t": 35.7, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 7140, "t": 35.7, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 7140, "t": 35.7, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 13, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 15, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 16, "step": 7559, "t": 37.795, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 18, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.6439126528034198}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7888, "t": 39.44, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 22, "step": 7888, "t": 39.44, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.6450000000008416}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 7888, "t": 39.44, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.6450000000008416}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 24, "step": 7888, "t": 39.44, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 25, "step": 7888, "t": 39.44, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 7888, "t": 39.44, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8308, "t": 41.54, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 28, "step": 8308, "t": 41.54, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 9.76740910374474e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8308, "t": 41.54, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 9.76740910374474e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 30, "step": 8308, "t": 41.54, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 31, "step": 8308, "t": 41.54, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 32, "step": 8308, "t": 41.54, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 33, "step": 8887, "t": 44.435, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 34, "step": 10632, "t": 53.16, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 10632, "t": 53.16, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 36, "step": 10632, "t": 53.16, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 37, "step": 10632, "t": 53.16, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p001_e013/env.mp4 b/episodes/c5_p001_e013/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..23c70729876f7877b9ae747cd531b901586c466d --- /dev/null +++ b/episodes/c5_p001_e013/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3baeedb80d1c789b8149cc9dbff6965ce219306b119cb60901efe32f2b2cdd88 +size 1304290 diff --git a/episodes/c5_p001_e013/meta.json b/episodes/c5_p001_e013/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a0a454f1a8d716b1be2073ca6cf559767b21d74e --- /dev/null +++ b/episodes/c5_p001_e013/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/13", + "fps": 25, + "frames": 1167, + "kept_ticks": "even", + "video_frames": { + "wrist": 1167, + "env": 1167 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e013/scene_snapshot.json b/episodes/c5_p001_e013/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..c2bb61657b0def3d2d3ca225b43747992c00c8ba --- /dev/null +++ b/episodes/c5_p001_e013/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 13, + "env_id": 1, + "run_id": "c5_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.04624684052879e-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": 0.25060511027114074, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.12820064452246427, + "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": 0.25060511027114074, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.02138042449951172, + 0.4474630355834961, + 0.8999999761581421 + ], + "ori": [ + 0.9999558925628662, + -1.0133886974017514e-07, + -1.6352585419099341e-07, + 0.00939568504691124 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1720075008270214e-06, + 3.902003413713828e-07, + -3.0659139156341553e-06 + ], + "angular_velocity": [ + -4.821063339477405e-05, + -9.68905005720444e-05, + 4.625047949957661e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4254302978515625, + 1.1529417037963867, + 0.8999999761581421 + ], + "ori": [ + -0.00822755042463541, + -1.7611412772566837e-08, + -7.37759409119576e-10, + 0.9999662041664124 + ], + "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": [ + -7.458789141878697e-10, + -1.270529570440715e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 2.910920215981605e-08, + -7.391975032078335e-08, + -2.724694780908976e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0995845794677734, + 1.143254280090332, + 0.8999999761581421 + ], + "ori": [ + -0.06780155003070831, + -9.700370640075562e-08, + -1.980339980889312e-08, + 0.9976989030838013 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.876087172396183e-09, + -3.852762020528644e-08, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 5.216731437940325e-07, + -2.1931560922894278e-07, + -3.1627141083845345e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.394963264465332, + 0.4561653137207031, + 0.8999999761581421 + ], + "ori": [ + 0.9980979561805725, + 2.987409430943444e-08, + 2.124375875212081e-08, + 0.06164802983403206 + ], + "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": [ + -5.340172748447003e-10, + 2.042022995141224e-09, + 0.0 + ], + "angular_velocity": [ + -5.054060636666691e-08, + -2.1776221714731037e-08, + 1.0977381670329578e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.03219890594482422, + 0.4555644989013672, + 0.9179999828338623 + ], + "ori": [ + 0.9982773661613464, + -9.603370898503272e-08, + -1.5129764108223753e-07, + 0.05867096409201622 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.5886522507789778e-06, + 1.0116348221345106e-06, + -2.3953616619110107e-06 + ], + "angular_velocity": [ + -4.660014747059904e-05, + -9.734267950989306e-05, + 4.187501872365829e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.4119081497192383, + 1.1452932357788086, + 0.9180000424385071 + ], + "ori": [ + 0.02851954661309719, + -1.7485602299416314e-08, + -1.1302665470225293e-09, + 0.9995933175086975 + ], + "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": [ + 1.862609266822801e-08, + 6.317834255753496e-09, + -5.2228569984436035e-06 + ], + "angular_velocity": [ + -3.832177242202306e-07, + 1.4187544365995564e-06, + 2.539933063872013e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.112813949584961, + 1.1436443328857422, + 0.9179999828338623 + ], + "ori": [ + -0.0673692375421524, + -1.7575786159795825e-07, + 2.0478317708239047e-07, + 0.997728168964386 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.917464144047699e-06, + 2.903579115809407e-06, + -6.765127182006836e-06 + ], + "angular_velocity": [ + 0.0001054329113685526, + 1.2372548553685192e-05, + 1.9255179722676985e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.381429672241211, + 0.4455833435058594, + 0.9179999828338623 + ], + "ori": [ + 0.9999693632125854, + 2.2909947716698298e-08, + 1.9182166965947545e-08, + 0.007832844741642475 + ], + "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": [ + -4.624167360134379e-08, + 1.5965952115948312e-08, + 1.30385160446167e-07 + ], + "angular_velocity": [ + -6.204049896041397e-07, + -1.9483397863950813e-06, + 9.378670284831969e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 6.65999999999988, + "step": 1332, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.04624684052879e-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": 0.25060511027114074, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1191, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.12861958146095276, + -0.002536952495574951, + 0.0 + ], + "carrier_2": [ + 0.275430291891098, + 0.7029417157173157, + 0.0 + ], + "carrier_3": [ + -1.249584585428238, + 0.693254292011261, + 0.0 + ], + "carrier_4": [ + 1.2449632585048676, + 0.00616532564163208, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.625780295387297, + 0.4441891910186244, + 3.053467963040282 + ], + "ori": [ + 14.511625308343735, + 4.843758767641113, + -14.87416321014005 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4536.95843147206, + "color": [ + 0.9702571913786251, + 0.8609468429414361, + 0.9969803723555433 + ], + "intensity": 6512.507606348856, + "width": 2.1910549980637444, + "height": 0.9588525919738229 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.4569963295009125, + -0.46050102578407004, + 2.463634690980334 + ], + "ori": [ + -25.478910219977013, + 8.187782139128828, + 5.7613833743507215 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4651.442462600526, + "color": [ + 0.7503278371253611, + 0.8086785490087494, + 0.818126298617047 + ], + "intensity": 2242.4288802304945, + "radius": 0.08457260565492308 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1057.600727215431, + "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": [ + [ + 2.3340790271759033, + -2.502187490463257, + 2.47206974029541, + -1.5416960716247559, + -1.5719484090805054, + 3.9136226177215576, + 0.007193631026893854, + 0.006519305985420942 + ], + [ + 0.9141058325767517, + -1.7193964719772339, + 2.0904979705810547, + -1.9419004917144775, + -1.5707999467849731, + 2.4849019050598145, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.680383563041687, + -1.2455884218215942, + 2.1797473430633545, + -2.5044095516204834, + -1.5707093477249146, + 0.11503977328538895, + 0.01799999363720417, + 0.01799999549984932 + ], + [ + 1.1182085275650024, + -1.6142908334732056, + 2.2135767936706543, + -2.1740365028381348, + -1.5716841220855713, + 3.053952932357788, + 0.007663586642593145, + 0.007044888101518154 + ] + ], + "joint_vel": [ + [ + 0.0027732362505048513, + 0.003081699600443244, + -0.0006485910271294415, + -0.0026929499581456184, + -0.00011582992738112807, + 0.003126053139567375, + -0.009374632500112057, + -3.207205008948222e-05 + ], + [ + 0.0, + -2.684249426066003e-38, + -1.507009057357167e-38, + -2.3929348335640427e-37, + 2.382588990949994e-37, + 3.6425937463897997e-37, + -2.6663918389560334e-38, + -3.327945965002551e-38 + ], + [ + 1.0933556170893491e-13, + 3.4059191875712713e-06, + 6.81192932461272e-06, + -4.875319765951236e-12, + 4.327075264938529e-14, + -2.1287340246090025e-07, + 7.797165579859211e-08, + 5.1980244109017804e-08 + ], + [ + 0.03553449735045433, + 0.01960272341966629, + -0.007068511098623276, + -0.013200465589761734, + 0.00014116521924734116, + -0.05381198972463608, + -0.007957438938319683, + 0.0003148949472233653 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.049982670694589615, + 0.0004946982953697443, + -0.030615489929914474, + -0.26782649755477905, + 0.6518315076828003, + 0.6515538692474365, + -0.280824214220047 + ], + [ + 0.05254342779517174, + 0.0026564104482531548, + -0.03326256945729256, + -0.28242239356040955, + 0.6540221571922302, + 0.6426967978477478, + -0.2818393111228943 + ], + [ + 0.04970412328839302, + -0.003395513165742159, + -0.03200247511267662, + -0.294184148311615, + 0.6472293734550476, + 0.6457604169845581, + -0.27846595644950867 + ], + [ + 0.051544949412345886, + 0.0021836471278220415, + -0.030610255897045135, + -0.28470370173454285, + 0.6412277817726135, + 0.6600267887115479, + -0.26858028769493103 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e013/wrist.mp4 b/episodes/c5_p001_e013/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d8b2dfb24fb30e277566d49f58e61d6ee72a6b87 --- /dev/null +++ b/episodes/c5_p001_e013/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59ff69c4dda62717da31de63ecaf85424a1453ccf5eb131d90171304ced58040 +size 6549903 diff --git a/episodes/c5_p001_e014/data.npz b/episodes/c5_p001_e014/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..d4424c824206f7ace95986304f71d1099d8a6976 --- /dev/null +++ b/episodes/c5_p001_e014/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92a413053e97f513dcd36e2757ed316030372c0e63030732d35a724889b8ca4e +size 188487 diff --git a/episodes/c5_p001_e014/device_events.jsonl b/episodes/c5_p001_e014/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d6616eee43845d98c0dd271e48fc3b076397662 --- /dev/null +++ b/episodes/c5_p001_e014/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 38, "t": 0.19, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 38, "t": 0.19, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 43, "t": 0.215, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1111, "t": 5.555, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6039, "t": 30.195, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6652, "t": 33.26, "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": 6652, "t": 33.26, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.0216250919939585}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6652, "t": 33.26, "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": 6652, "t": 33.26, "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": 6652, "t": 33.26, "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": 7071, "t": 35.355, "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": 7071, "t": 35.355, "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": 7071, "t": 35.355, "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": 7071, "t": 35.355, "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": 7071, "t": 35.355, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7071, "t": 35.355, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7071, "t": 35.355, "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": 7071, "t": 35.355, "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": 7071, "t": 35.355, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.0216250919939585}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 7676, "t": 38.38, "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": 7676, "t": 38.38, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.0250000000015476}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7676, "t": 38.38, "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": 3.0250000000015476}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7676, "t": 38.38, "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": 7676, "t": 38.38, "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": 7676, "t": 38.38, "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": 8096, "t": 40.48, "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": 8096, "t": 40.48, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.0730011723580901e-07}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8096, "t": 40.48, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.0730011723580901e-07}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8096, "t": 40.48, "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": 8096, "t": 40.48, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8096, "t": 40.48, "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": 8669, "t": 43.345, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 10356, "t": 51.78, "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": 10356, "t": 51.78, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 10356, "t": 51.78, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10356, "t": 51.78, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p001_e014/env.mp4 b/episodes/c5_p001_e014/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d376976dfc686a7bdcd7da42ff7ddb6354b0a350 --- /dev/null +++ b/episodes/c5_p001_e014/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b223ecbef1a4fef650174d64d93c533dfa504ede5162df10db9ba322b35f637 +size 1223781 diff --git a/episodes/c5_p001_e014/meta.json b/episodes/c5_p001_e014/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..af6da3f9d5ba6dfd859aaee36d928d3ec9187b9c --- /dev/null +++ b/episodes/c5_p001_e014/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/14", + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e014/scene_snapshot.json b/episodes/c5_p001_e014/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..a3cda23d676ad7c0363c24c206486b02016ae2df --- /dev/null +++ b/episodes/c5_p001_e014/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 14, + "env_id": 2, + "run_id": "c5_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.29199321127266825, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.04282799525614006, + "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": 0.29199321127266825, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6118087768554688, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + -1.7403192032361403e-05, + -2.150706723824669e-09, + 5.499857236301864e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.5724823099769765e-10, + -5.811862102689247e-11, + 0.0 + ], + "angular_velocity": [ + 5.4114476455424665e-08, + 4.652772389590609e-08, + -1.1433771263114068e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.610703468322754, + 1.0321292877197266, + 0.8999999761581421 + ], + "ori": [ + 0.4131961166858673, + -4.554633292741528e-08, + 2.0244426579552055e-08, + 0.9106420874595642 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3479271032679208e-09, + -2.414018984708832e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 3.379133062253459e-08, + 4.4662151310603804e-08, + 2.0262723054997878e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1070413589477539, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 5.5460539272189635e-08, + 1.873091548532102e-08, + -1.703725320112426e-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": [ + 2.778828900318331e-08, + 6.029963515175041e-07, + 1.043081283569336e-07 + ], + "angular_velocity": [ + -1.3394078450801317e-05, + -6.332790007945732e-07, + -3.3112391975009814e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.385610580444336, + 0.7202234268188477, + 0.9000003933906555 + ], + "ori": [ + -0.7627059817314148, + 1.4915677638782654e-05, + -1.18899315566523e-05, + 0.6467454433441162 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.5893314159475267e-05, + -6.136533102107933e-06, + -9.29906964302063e-05 + ], + "angular_velocity": [ + 0.001294463174417615, + -0.00465398421511054, + -0.0002530178753659129 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.6160345077514648, + 1.1436090469360352, + 0.9179999828338623 + ], + "ori": [ + 0.03743363916873932, + -5.240876066459066e-10, + -1.37939903943618e-09, + 0.9992991089820862 + ], + "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": [ + 2.195208637090218e-08, + 3.328413988867851e-09, + 7.82310962677002e-08 + ], + "angular_velocity": [ + -3.0190761890480644e-07, + 1.5054781670187367e-06, + 6.892356196885885e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.6065244674682617, + 1.043548583984375, + 0.9180000424385071 + ], + "ori": [ + 0.44046637415885925, + -4.648170914833827e-08, + 1.778855462930551e-08, + 0.8977691531181335 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.4220536687380445e-08, + -3.505385492985624e-08, + -5.856156349182129e-06 + ], + "angular_velocity": [ + 1.5460635722774896e-06, + 1.7967678331842762e-06, + 1.1447448855506082e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.10335922241210938, + 0.45233631134033203, + 0.9180000424385071 + ], + "ori": [ + 0.9960705041885376, + 4.0180105997933424e-07, + 4.79305413136899e-08, + 0.08856382220983505 + ], + "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": [ + -3.185979039699305e-06, + 3.021272277692333e-06, + -5.539506673812866e-06 + ], + "angular_velocity": [ + 5.7122320868074894e-05, + 8.28882821224397e-06, + 3.555370858521201e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.3756895065307617, + 0.7192182540893555, + 0.9180000424385071 + ], + "ori": [ + -0.6946538686752319, + 1.6222495105466805e-05, + -6.3824891185504384e-06, + 0.7193441390991211 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.457854760810733e-05, + -5.30905817868188e-05, + -9.547919034957886e-05 + ], + "angular_velocity": [ + 0.0018130614189431071, + -0.00315948692150414, + 6.461109296651557e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 3.299999999999952, + "step": 660, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 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": 0.29199321127266825, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 621, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.4618087708950043, + 0.7000005841255188, + 0.0 + ], + "carrier_2": [ + 1.4607034623622894, + 0.5821292996406555, + 0.0 + ], + "carrier_3": [ + -0.04295864701271057, + 2.682209014892578e-06, + 0.0 + ], + "carrier_4": [ + -1.5356105864048004, + 0.2702234387397766, + 4.172325134277344e-07 + ] + }, + "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 + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.1751498053717528, + 0.27196835147280984, + 2.8435737208725356 + ], + "ori": [ + 6.082222667768207, + -5.233058081169297, + -27.33938855892131 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6248.641947248382, + "color": [ + 0.937960711252253, + 0.9002330720183239, + 0.9067620106290292 + ], + "intensity": 8928.796799736177, + "width": 2.726176912093467, + "height": 1.6346973361542319 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.5384017115313628, + 0.2186927604600799, + 2.49498032090568 + ], + "ori": [ + -22.634162217316273, + 35.08344242269061, + 16.976191552813972 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3104.2904890768255, + "color": [ + 0.961654976606769, + 0.8648898860388641, + 0.8781314794372779 + ], + "intensity": 9881.632922425077, + "radius": 0.1598723585048985 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1057.600727215431, + "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": [ + [ + 2.55995512008667, + -2.1932930946350098, + 2.398820161819458, + -1.7776896953582764, + -1.5705889463424683, + 4.135915279388428, + 0.017999988049268723, + 0.018000010401010513 + ], + [ + 0.9540233612060547, + -1.4347617626190186, + 2.0210118293762207, + -2.1570258140563965, + -1.5708047151565552, + 2.4073984622955322, + 0.0076747979037463665, + 0.0071344031020998955 + ], + [ + 0.9141093492507935, + -1.7193948030471802, + 2.0904977321624756, + -1.941900610923767, + -1.5707999467849731, + 2.4849050045013428, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -0.01373003888875246, + -0.024451296776533127, + 0.008991284295916557, + 0.015055766329169273, + 4.175628873781534e-06, + -0.013773980550467968, + -2.328271875740029e-06, + 2.3283614609681536e-06 + ], + [ + 0.00012966639769729227, + 1.939597314049024e-05, + -0.00028120799106545746, + -0.00021766200370620936, + 0.0005908480379730463, + 0.0017041959799826145, + -0.006909128278493881, + 0.00018773620831780136 + ], + [ + 0.0, + -2.454432554281033e-38, + -1.6919636390664708e-38, + -3.6030791475656285e-37, + 5.968116707094138e-37, + -2.694139028320843e-36, + 2.599039738981901e-08, + -2.5990386731677972e-08 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.0507589615881443, + 0.0006561046466231346, + -0.03156524524092674, + -0.26925957202911377, + 0.6518796682357788, + 0.651587724685669, + -0.27925905585289 + ], + [ + 0.05472281575202942, + 0.002351175295189023, + -0.03389190137386322, + -0.27729281783103943, + 0.6552342176437378, + 0.6421072483062744, + -0.28543832898139954 + ], + [ + 0.05003203824162483, + 0.001512704067863524, + -0.03226206824183464, + -0.29322901368141174, + 0.6390935778617859, + 0.6527971625328064, + -0.28183692693710327 + ], + [ + 0.04993937909603119, + 0.001107134041376412, + -0.032049112021923065, + -0.28497114777565, + 0.6444344520568848, + 0.658967137336731, + -0.26316913962364197 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e014/wrist.mp4 b/episodes/c5_p001_e014/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..875ad62f61d5e3f9cf9afadcc73261afe829c694 --- /dev/null +++ b/episodes/c5_p001_e014/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97dc313bccec3cb29b98efe8935e4c5e088be1dfbe671e3019b363131c6c4172 +size 6621946 diff --git a/episodes/c5_p001_e015/data.npz b/episodes/c5_p001_e015/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..38b8f914e7d3ca1a9ffb1b750e96002af1e7a3f6 --- /dev/null +++ b/episodes/c5_p001_e015/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d9e79ed0ec64dd916e73ba5dc37b2bd8d7c1c224a980be6feb3a93713d4165f +size 192556 diff --git a/episodes/c5_p001_e015/device_events.jsonl b/episodes/c5_p001_e015/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3bbbbdb053bff156925884e19326d334fbc4c5ac --- /dev/null +++ b/episodes/c5_p001_e015/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 128, "t": 0.64, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 128, "t": 0.64, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 133, "t": 0.665, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1207, "t": 6.035, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6030, "t": 30.15, "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": 6640, "t": 33.2, "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": 6640, "t": 33.2, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.485317866602296}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 6640, "t": 33.2, "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": 6640, "t": 33.2, "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": 6640, "t": 33.2, "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": 7059, "t": 35.295, "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": 7059, "t": 35.295, "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": 7059, "t": 35.295, "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": 7059, "t": 35.295, "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": 7059, "t": 35.295, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7059, "t": 35.295, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 7059, "t": 35.295, "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": 7059, "t": 35.295, "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": 7059, "t": 35.295, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.485317866602296}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 7957, "t": 39.785, "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": 7957, "t": 39.785, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.490000000002297}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7957, "t": 39.785, "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": 4.490000000002297}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 7957, "t": 39.785, "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": 7957, "t": 39.785, "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": 7957, "t": 39.785, "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": 8377, "t": 41.885, "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": 8377, "t": 41.885, "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": 8377, "t": 41.885, "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": 8377, "t": 41.885, "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": 8377, "t": 41.885, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8377, "t": 41.885, "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": 8960, "t": 44.8, "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": 10740, "t": 53.7, "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": 10740, "t": 53.7, "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": 10740, "t": 53.7, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 10740, "t": 53.7, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p001_e015/env.mp4 b/episodes/c5_p001_e015/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cbb8f7ce56a934a6134a106751dfa87e075ae4ee --- /dev/null +++ b/episodes/c5_p001_e015/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ebafb42540d4c1790885f5333508dc9f97dd4da26651087b3eebe20d62abc9f5 +size 1340130 diff --git a/episodes/c5_p001_e015/meta.json b/episodes/c5_p001_e015/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..88e6c36f17fdc1b71059de23f1a2a0774290fbbe --- /dev/null +++ b/episodes/c5_p001_e015/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/15", + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e015/scene_snapshot.json b/episodes/c5_p001_e015/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..f90f025600123540669b625dd75e8af43c0753b1 --- /dev/null +++ b/episodes/c5_p001_e015/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 15, + "env_id": 3, + "run_id": "c5_p001", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48097991943359375, + 0.1065673828125, + 0.8999999761581421 + ], + "ori": [ + 0.726047158241272, + 0.0, + 0.0, + -0.687644898891449 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 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": 0.1996583388265337, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.19548407382242988, + "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": 0.1996583388265337, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.13547229766845703, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + -2.5915373043972068e-05, + -1.573973307245069e-08, + -6.945092945187525e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.17080065034736e-09, + 4.700235756160964e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.5008001241767488e-07, + 1.2993729114896269e-07, + -5.978115069638079e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1667366027832031, + 1.1264448165893555, + 0.8999999761581421 + ], + "ori": [ + -0.16703805327415466, + -6.836366139850725e-08, + -3.651460289688657e-08, + 0.9859504699707031 + ], + "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": [ + -7.863094424465089e-07, + -5.397660061134957e-07, + -2.246350049972534e-06 + ], + "angular_velocity": [ + 3.9070218917913735e-05, + -6.628318806178868e-05, + -5.909339506615652e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.045047760009765625, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.8107868537953209e-09, + 3.52543771953151e-09, + -4.232687206240371e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.141165271282944e-10, + 3.911458712479998e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -9.880530882355743e-08, + -2.355044159685349e-08, + 3.0283874963288326e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6885299682617188, + 0.7226238250732422, + 0.8999999761581421 + ], + "ori": [ + 0.7842531800270081, + 2.395416487388502e-08, + -4.186096091984837e-08, + 0.6204410195350647 + ], + "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": [ + 1.5809252795762063e-09, + 5.085185605935294e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -4.215554127995347e-08, + 7.106424249059273e-08, + -8.499798198613462e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.13373374938964844, + 1.142256736755371, + 0.9179999828338623 + ], + "ori": [ + -0.02500181458890438, + -1.601251931049319e-08, + -4.06887412651713e-09, + 0.9996874332427979 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.806185126606579e-08, + 8.686697583470959e-08, + 1.6391277313232422e-07 + ], + "angular_velocity": [ + -2.287697498104535e-06, + 3.1964709705789573e-06, + -3.3666225363049307e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.161393165588379, + 1.1179914474487305, + 0.9179999828338623 + ], + "ori": [ + -0.15588411688804626, + -6.611342939777387e-08, + -3.295498984812184e-08, + 0.987775444984436 + ], + "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": [ + -1.592322405485902e-06, + -1.0143697863895795e-06, + -7.573515176773071e-06 + ], + "angular_velocity": [ + 3.816639946307987e-05, + -6.581736670341343e-05, + -6.513583343803475e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -0.054823875427246094, + 0.4393892288208008, + 0.9180000424385071 + ], + "ori": [ + 0.9969136714935303, + 1.7283080522290106e-09, + 4.8814663422547255e-09, + -0.0785055086016655 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7223744208649805e-08, + 2.984906544156729e-08, + -5.591660737991333e-06 + ], + "angular_velocity": [ + -6.277186344050278e-07, + -1.3941375982540194e-06, + 1.9380831872695126e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.6784706115722656, + 0.7210817337036133, + 0.9179999828338623 + ], + "ori": [ + 0.7487512230873108, + 2.337097626536888e-08, + -3.948916926788115e-08, + 0.6628512144088745 + ], + "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": [ + 6.195497093131053e-08, + -7.963055281834386e-08, + -3.2335519790649414e-06 + ], + "angular_velocity": [ + 2.6823267944564577e-06, + 2.3925288132886635e-06, + 3.0359341707253407e-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": 3.85999999999994, + "step": 772, + "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": 0.1996583388265337, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 643, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.014527708292007446, + 0.699998676776886, + 0.0 + ], + "carrier_2": [ + -1.3167366087436676, + 0.6764448285102844, + 0.0 + ], + "carrier_3": [ + -0.1950477659702301, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_4": [ + 1.5385299623012543, + 0.27262383699417114, + 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": [ + -0.39098759917914966, + 0.47114590047739147, + 2.9351502715971423 + ], + "ori": [ + -8.352863051371429, + -4.208266125370637, + -23.301692698119343 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5029.310580677124, + "color": [ + 0.9797093320841286, + 0.9286208543114907, + 0.8103539226217906 + ], + "intensity": 6444.12687731533, + "width": 2.018731173909283, + "height": 1.4413538336146492 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.7616790487059816, + -0.4447719761948985, + 1.6675537324840681 + ], + "ori": [ + -36.22465561147354, + -1.6580077731425362, + 26.329938654932818 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4369.370555504509, + "color": [ + 0.872074587305996, + 0.9715007627539902, + 0.9698209323661489 + ], + "intensity": 2077.9624310897752, + "radius": 0.07351212482961281 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1057.600727215431, + "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": [ + [ + 2.8098363876342773, + -1.6085253953933716, + 2.035950183868408, + -1.9982531070709229, + -1.5706782341003418, + 4.397585868835449, + 0.007262950297445059, + 0.006577502470463514 + ], + [ + 2.3042588233947754, + -2.4188473224639893, + 2.10907244682312, + -1.261971116065979, + -1.5712536573410034, + 3.8749701976776123, + 0.007680667098611593, + 0.007128577213734388 + ], + [ + 0.8506963849067688, + -1.1561384201049805, + 2.0465996265411377, + -2.4611847400665283, + -1.570906639099121, + 2.243842840194702, + 0.007807414513081312, + 0.0070608085952699184 + ], + [ + 0.9141029715538025, + -1.7193974256515503, + 2.0905003547668457, + -1.9419012069702148, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -0.00015508967044297606, + 0.0002005898713832721, + 0.00010570569429546595, + -0.0008762972429394722, + -0.003770641051232815, + 0.008670834824442863, + -0.009830479510128498, + 0.00025808115606196225 + ], + [ + 0.01481021847575903, + -0.01026493962854147, + 0.0003841198340523988, + 0.008413627743721008, + -0.0005920082912780344, + 0.01770033687353134, + -0.007112307474017143, + 0.0002859730739146471 + ], + [ + -0.00019383018661756068, + 5.9258934925310314e-05, + -0.00043456078856252134, + -0.0021930080838501453, + 0.00404317257925868, + 0.009947576560080051, + -0.01001044362783432, + 0.000480994931422174 + ], + [ + -2.4548924604370244e-38, + 1.4827164274393247e-38, + 0.0, + 4.35970094875601e-37, + 2.7603543940789925e-37, + 4.379669339768762e-37, + 2.5990388508034812e-08, + -2.5990400942532688e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.051866564899683, + -0.0015445626340806484, + -0.03258762136101723, + -0.2680394649505615, + 0.6527137160301208, + 0.6506384015083313, + -0.2806944251060486 + ], + [ + 0.05421815440058708, + 0.0017117687966674566, + -0.03192039579153061, + -0.27537479996681213, + 0.6580279469490051, + 0.6390475034713745, + -0.28772592544555664 + ], + [ + 0.04679838567972183, + 0.0004558293439913541, + -0.03190626576542854, + -0.297942578792572, + 0.6442179679870605, + 0.6465104818344116, + -0.27970996499061584 + ], + [ + 0.04974476993083954, + 0.00166699115652591, + -0.03188610076904297, + -0.2818666994571686, + 0.6424369812011719, + 0.6597369909286499, + -0.2693937420845032 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e015/wrist.mp4 b/episodes/c5_p001_e015/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..388aadddf922771ee1e6f23204b424f79569414d --- /dev/null +++ b/episodes/c5_p001_e015/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5337be810b1f2e0855b731077f6fda19fc68c6f63e9ae1db9b6d424f16a519d1 +size 7469738 diff --git a/episodes/c5_p001_e016/data.npz b/episodes/c5_p001_e016/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..6348b58f42b7257365bc38337c3f58b7ace55503 --- /dev/null +++ b/episodes/c5_p001_e016/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78946252a755956a8ce4ea46fcc68c5325ca7449c43237f98721e113e4f7471c +size 188385 diff --git a/episodes/c5_p001_e016/device_events.jsonl b/episodes/c5_p001_e016/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ceee07fd692379ace305e4008ba4e0f47fb37fd2 --- /dev/null +++ b/episodes/c5_p001_e016/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 99, "t": 0.495, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 99, "t": 0.495, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 104, "t": 0.52, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 5494, "t": 27.47, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6104, "t": 30.52, "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": 6104, "t": 30.52, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.4407655311164254}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6104, "t": 30.52, "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": 6104, "t": 30.52, "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": 6104, "t": 30.52, "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": 6523, "t": 32.615, "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": 6523, "t": 32.615, "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": 6523, "t": 32.615, "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": 6523, "t": 32.615, "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": 6523, "t": 32.615, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 6523, "t": 32.615, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 6523, "t": 32.615, "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": 6523, "t": 32.615, "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": 6523, "t": 32.615, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.4407655311164254}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7212, "t": 36.06, "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": 7212, "t": 36.06, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.4450000000017624}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7212, "t": 36.06, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.4450000000017624}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7212, "t": 36.06, "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": 7212, "t": 36.06, "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": 7212, "t": 36.06, "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": 7632, "t": 38.16, "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": 7632, "t": 38.16, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.4212513589391165e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 7632, "t": 38.16, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.4212513589391165e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 7632, "t": 38.16, "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": 7632, "t": 38.16, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 7632, "t": 38.16, "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": 8223, "t": 41.115, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 9956, "t": 49.78, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 33, "step": 9956, "t": 49.78, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 9956, "t": 49.78, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 9956, "t": 49.78, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p001_e016/env.mp4 b/episodes/c5_p001_e016/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a94356aa334269964abddcf00ed59bb5d5692948 --- /dev/null +++ b/episodes/c5_p001_e016/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d5c399a6495fceceee286331e3773bb63ff9ca4f8a8af3bffbdf50d5f433685 +size 1380425 diff --git a/episodes/c5_p001_e016/meta.json b/episodes/c5_p001_e016/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7e26c73747be056eb622c13ccb452c5918cfedc5 --- /dev/null +++ b/episodes/c5_p001_e016/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/16", + "fps": 25, + "frames": 1215, + "kept_ticks": "even", + "video_frames": { + "wrist": 1215, + "env": 1215 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e016/scene_snapshot.json b/episodes/c5_p001_e016/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..029a5ffd8d42d093d7412873e91bb610d733d1f6 --- /dev/null +++ b/episodes/c5_p001_e016/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 16, + "env_id": 0, + "run_id": "c5_p001", + "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_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5098752975463867, + 0.08571529388427734, + 0.8999999761581421 + ], + "ori": [ + 0.7111824154853821, + 0.0, + 0.0, + -0.7030075192451477 + ], + "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": [ + 3.700582808935371e-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": 0.2680256265183081, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.23833977652308802, + "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": 0.2680256265183081, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.7730646133422852, + 1.152684211730957, + 0.8999999761581421 + ], + "ori": [ + -0.008226186037063599, + 2.5451349916494337e-09, + -7.472367724581375e-10, + 0.9999662041664124 + ], + "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": [ + 7.049250072554969e-11, + 7.90506771153332e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.6805705033439153e-07, + -1.706322549921424e-08, + 2.7569340588229352e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6670913696289062, + 0.6567602157592773, + 0.8999999761581421 + ], + "ori": [ + 0.8441363573074341, + -1.0047024545656313e-08, + 3.588717767399885e-09, + 0.5361285209655762 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.543894427389006e-10, + 5.879075004600054e-11, + 0.0 + ], + "angular_velocity": [ + -5.863324048505092e-09, + -2.196745896299035e-09, + 4.102381989667947e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.0884561538696289, + 0.45000457763671875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 8.85000872585806e-09, + -3.4524663128365773e-09, + 5.617534043267369e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.7592169377376194e-09, + 1.6317658335651686e-08, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.8917700117526692e-06, + 2.1569040598024003e-07, + -1.9172064469330508e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.9730958938598633, + 1.150120735168457, + 0.8999999761581421 + ], + "ori": [ + 0.000957661250140518, + -2.3470481114173936e-09, + -9.823465374481088e-10, + 0.9999995231628418 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.019332480875164e-08, + -3.6631487887461844e-07, + 2.3096799850463867e-07 + ], + "angular_velocity": [ + 1.0214253052254207e-05, + 9.884984137897845e-07, + -3.4447812140570022e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.7834463119506836, + 1.1435527801513672, + 0.9179999828338623 + ], + "ori": [ + -0.06568771600723267, + -1.0971809571991287e-10, + 1.1704721636363047e-09, + 0.9978402256965637 + ], + "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": [ + 1.967375240496949e-08, + 9.218116758802353e-08, + 1.4528632164001465e-07 + ], + "angular_velocity": [ + -2.68991766461113e-06, + 1.5840278138057329e-06, + 1.5329357339055605e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 1.6563692092895508, + 0.6565980911254883, + 0.9180000424385071 + ], + "ori": [ + 0.8128789663314819, + -8.535030460166126e-09, + 2.8915954075614536e-09, + 0.5824326872825623 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.3499122647763215e-09, + -1.586658981977962e-08, + -5.070120096206665e-06 + ], + "angular_velocity": [ + 2.215814220107859e-06, + 1.0970369430651772e-06, + 9.011870361064211e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -0.07765388488769531, + 0.45861244201660156, + 0.9180000424385071 + ], + "ori": [ + 0.9995672702789307, + 1.6204297992317152e-07, + -2.5757701749284934e-08, + -0.029415026307106018 + ], + "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": [ + -9.301547834184021e-07, + 4.465419806365389e-06, + -4.760921001434326e-06 + ], + "angular_velocity": [ + 1.4587349141947925e-05, + -1.599471943336539e-05, + 2.9834302040399052e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -0.9696054458618164, + 1.150639533996582, + 0.9180000424385071 + ], + "ori": [ + 0.05350465700030327, + -5.722667992813513e-07, + 1.87658400818691e-07, + 0.9985676407814026 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.2019495342392474e-06, + 2.2731637727702036e-06, + -1.0553747415542603e-05 + ], + "angular_velocity": [ + 6.299455708358437e-05, + -1.1790732969529927e-05, + 1.023267031996511e-06 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 1.359999999999993, + "step": 272, + "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": 3.700582808935371e-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": 0.2680256265183081, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 172, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.6230646073818207, + 0.702684223651886, + 0.0 + ], + "carrier_2": [ + 1.5170913636684418, + 0.2067602276802063, + 0.0 + ], + "carrier_3": [ + -0.23845615983009338, + 4.589557647705078e-06, + 0.0 + ], + "carrier_4": [ + -1.1230958998203278, + 0.700120747089386, + 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": [ + 0.8028743808449678, + -0.45668548513643137, + 2.93244244600277 + ], + "ori": [ + -5.490225867614377, + 6.841046489628756, + -8.260285219644572 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3753.740898892515, + "color": [ + 0.8908859648575738, + 0.9984896700900957, + 0.9079738097239921 + ], + "intensity": 12044.82056072282, + "width": 1.8038312860232848, + "height": 1.2750811404477203 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.49833880000971464, + 0.6310613118360902, + 2.2852010543811154 + ], + "ori": [ + 9.652457541034707, + 22.370775338794886, + -30.31953146705898 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7422.373546763286, + "color": [ + 0.965503243450387, + 0.9153757183343858, + 0.9348561106021321 + ], + "intensity": 6127.465019276864, + "radius": 0.09841013425025479 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 499.3498408337804, + "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 + ], + [ + -0.23500172793865204, + -2.221066474914551, + 2.428403854370117, + -1.7780895233154297, + -1.570826530456543, + 4.479620456695557, + 0.0077338735572993755, + 0.007036174181848764 + ], + [ + -0.130531907081604, + -2.106734037399292, + 2.2991695404052734, + -1.7667392492294312, + -1.5671747922897339, + 4.584197998046875, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + -0.14004084467887878, + -2.275437355041504, + 2.355315685272217, + -1.6439921855926514, + -1.585323691368103, + 4.646739959716797, + 0.018000002950429916, + 0.01799999549984932 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -0.0001386769290547818, + -8.968197653302923e-05, + -0.00031197466887533665, + 3.854753595078364e-05, + 6.571625999640673e-05, + -0.0003019216819666326, + -0.00870959646999836, + 0.0003062735195271671 + ], + [ + 1.2772339914590702e-06, + -6.811833827669034e-06, + -1.3623857739730738e-05, + -6.81194478602265e-06, + 3.4059778499795357e-06, + 7.669434748738824e-14, + 5.1980688198227654e-08, + -5.1982251392246326e-08 + ], + [ + 1.277231604035478e-06, + 1.843416044811086e-11, + -6.811940693296492e-06, + 3.6197832925521922e-12, + 6.811957973695826e-06, + 3.736713629493016e-13, + -5.1981452031668596e-08, + 5.1982016913143525e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05156189203262329, + -0.0012269627768546343, + -0.03203820437192917, + -0.2730778753757477, + 0.6555038094520569, + 0.645714521408081, + -0.2807062566280365 + ], + [ + 0.05218733102083206, + 0.00201346050016582, + -0.032898250967264175, + -0.27140867710113525, + 0.6596123576164246, + 0.6396205425262451, + -0.2865910530090332 + ], + [ + 0.05069869011640549, + -0.001065027085132897, + -0.032626062631607056, + -0.29527243971824646, + 0.6413981318473816, + 0.6511154770851135, + -0.2783365845680237 + ], + [ + 0.05163075402379036, + 0.001941330498084426, + -0.0300077386200428, + -0.28598862886428833, + 0.640588641166687, + 0.6595792174339294, + -0.2698369324207306 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e016/wrist.mp4 b/episodes/c5_p001_e016/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a61c61ca36e6dc7a2a494689670edbf28d74898c --- /dev/null +++ b/episodes/c5_p001_e016/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59fc59fadc0b47c9e098754c5265cbb398c6e4bfa30136626382f22b2f269f3c +size 8445657 diff --git a/episodes/c5_p001_e017/data.npz b/episodes/c5_p001_e017/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..30eb41cb93ac3c1c715f89537b01934bd4885d33 --- /dev/null +++ b/episodes/c5_p001_e017/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8c47aee7875f914d646ecbc0df962e68f0f1f74f01510f8d45d7be70b6988d3 +size 186753 diff --git a/episodes/c5_p001_e017/device_events.jsonl b/episodes/c5_p001_e017/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..70a4a45bfa62c24f589e2fa522249221ebcc6714 --- /dev/null +++ b/episodes/c5_p001_e017/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 79, "t": 0.395, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 79, "t": 0.395, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 84, "t": 0.42, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6147, "t": 30.735, "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": 6756, "t": 33.78, "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": 6756, "t": 33.78, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.7306561546466694}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6756, "t": 33.78, "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": 6756, "t": 33.78, "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": 6756, "t": 33.78, "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": 7175, "t": 35.875, "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": 7175, "t": 35.875, "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": 7175, "t": 35.875, "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": 7175, "t": 35.875, "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": 7175, "t": 35.875, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7175, "t": 35.875, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7175, "t": 35.875, "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": 7175, "t": 35.875, "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": 7175, "t": 35.875, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.7306561546466694}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7722, "t": 38.61, "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": 7722, "t": 38.61, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.735000000001399}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7722, "t": 38.61, "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": 2.735000000001399}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7722, "t": 38.61, "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": 7722, "t": 38.61, "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": 7722, "t": 38.61, "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": 8142, "t": 40.71, "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": 8142, "t": 40.71, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.70241075781497e-13}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8142, "t": 40.71, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.70241075781497e-13}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8142, "t": 40.71, "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": 8142, "t": 40.71, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8142, "t": 40.71, "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": 8723, "t": 43.615, "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": 10460, "t": 52.3, "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": 10460, "t": 52.3, "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": 10460, "t": 52.3, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10460, "t": 52.3, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p001_e017/env.mp4 b/episodes/c5_p001_e017/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b83a5ef3c64cd51745601ffcf6670414b630e5e0 --- /dev/null +++ b/episodes/c5_p001_e017/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1335067a4b14f39e150d666a014a79ad03fcbdd9396cfa093817c13525b284a +size 1239484 diff --git a/episodes/c5_p001_e017/meta.json b/episodes/c5_p001_e017/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..85a89de2d14a4a6463df3ea5daed1b698c8e2bfa --- /dev/null +++ b/episodes/c5_p001_e017/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/17", + "fps": 25, + "frames": 1192, + "kept_ticks": "even", + "video_frames": { + "wrist": 1192, + "env": 1192 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e017/scene_snapshot.json b/episodes/c5_p001_e017/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..75c4fb59b18bc7baae0f8e91e39e29632d2b8fad --- /dev/null +++ b/episodes/c5_p001_e017/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 17, + "env_id": 1, + "run_id": "c5_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.364167397348211e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.19103135596987164, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.13533920122392512, + "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": 0.19103135596987164, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.2540569305419922, + 1.1500015258789062, + 0.8999999761581421 + ], + "ori": [ + -7.679317604925018e-06, + -6.249035067185105e-09, + 4.918052631808223e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.4318103086784504e-09, + -1.8782468913514094e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 1.6577594408317964e-07, + -2.3256181691522215e-07, + -2.6999504854074985e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.014896392822265625, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.307181168863636e-10, + -7.771538412804091e-10, + -1.7625357941142283e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.121410990265417e-10, + 1.9124408723314446e-09, + 0.0 + ], + "angular_velocity": [ + -1.5402210351567192e-07, + -4.2637999797534576e-08, + -2.1329968902250585e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6563425064086914, + 0.6369743347167969, + 0.8999999761581421 + ], + "ori": [ + 0.8605031371116638, + 4.424942634528861e-09, + 8.82053985407083e-10, + 0.5094451308250427 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.990241305094287e-11, + -8.797802764082263e-11, + 0.0 + ], + "angular_velocity": [ + 8.342180279896638e-10, + -7.131845336516562e-09, + 1.6689079007647933e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3886327743530273, + 0.8794660568237305, + 0.8999999761581421 + ], + "ori": [ + -0.6133958101272583, + -7.452983652456169e-08, + -1.0758878232763891e-07, + 0.7897756695747375 + ], + "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": [ + -2.7963073989667464e-07, + -9.775715170690091e-07, + -2.2724270820617676e-06 + ], + "angular_velocity": [ + 8.688360685482621e-05, + -3.985367948189378e-05, + -2.433114332234254e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.24284744262695312, + 1.1533117294311523, + 0.9179999828338623 + ], + "ori": [ + 0.05291936174035072, + -4.835357003685203e-09, + -2.6435813538228103e-09, + 0.9985988140106201 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3444566349107845e-08, + -1.608798427810143e-09, + 1.4528632164001465e-07 + ], + "angular_velocity": [ + 3.645354240688903e-08, + 1.7725528778100852e-06, + -6.641177208166482e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.024745941162109375, + 0.44756031036376953, + 0.9180000424385071 + ], + "ori": [ + 0.9995884895324707, + -2.206746452237951e-10, + -4.985896695508529e-10, + 0.028684433549642563 + ], + "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": [ + -1.9622055091872426e-08, + 1.4486627897269955e-08, + -5.0477683544158936e-06 + ], + "angular_velocity": [ + -7.089844444863047e-08, + -1.2904441746286466e-06, + 1.31158628846606e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.6567049026489258, + 0.6455183029174805, + 0.9179999828338623 + ], + "ori": [ + 0.9018312692642212, + 3.765171285863289e-09, + 1.953676997956677e-09, + 0.43208828568458557 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.6238048683447914e-09, + -6.193644264129716e-09, + -5.539506673812866e-06 + ], + "angular_velocity": [ + 1.01820842246525e-06, + 2.6725621182777104e-07, + 1.3533865583781335e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.399836540222168, + 0.8739528656005859, + 0.9179999828338623 + ], + "ori": [ + -0.6488457918167114, + 7.70878330058622e-08, + -1.2657028491958044e-07, + 0.7609199285507202 + ], + "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": [ + -2.095041963912081e-06, + -3.297588818895747e-06, + -6.791204214096069e-06 + ], + "angular_velocity": [ + 0.00012972508557140827, + 1.382047776132822e-05, + -1.617392808839213e-05 + ] + } + } + ], + "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": 4.839999999999919, + "step": 968, + "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": 3.364167397348211e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.19103135596987164, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 888, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.10405692458152771, + 0.7000015377998352, + 0.0 + ], + "carrier_2": [ + -0.13510361313819885, + 2.682209014892578e-06, + 0.0 + ], + "carrier_3": [ + 1.506342500448227, + 0.18697434663772583, + 0.0 + ], + "carrier_4": [ + -1.5386327803134918, + 0.4294660687446594, + 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": [ + -0.4420721529824843, + 0.5596242027284781, + 3.1266706835870397 + ], + "ori": [ + 5.674743840549663, + -1.7686504728898598, + -17.436706003804257 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5291.094994253353, + "color": [ + 0.8506729265513324, + 0.8147833448967272, + 0.9954000507683313 + ], + "intensity": 12717.843130859825, + "width": 2.187366539531813, + "height": 1.6668513815593597 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.3652935927481178, + 1.008878415827961, + 2.7766254545456537 + ], + "ori": [ + 10.368723340488188, + 7.129638301475069, + 13.745678028652662 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 2877.771281262147, + "color": [ + 0.9339172862837853, + 0.8343722051554721, + 0.8488016991579022 + ], + "intensity": 2534.3449882284112, + "radius": 0.12313519800911546 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 499.3498408337804, + "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": [ + [ + 2.790231704711914, + -1.4396427869796753, + 2.2780611515045166, + -2.4088027477264404, + -1.5767053365707397, + 4.3601393699646, + 0.018000023439526558, + 0.017999975010752678 + ], + [ + 0.9141044616699219, + -1.7193962335586548, + 2.0904974937438965, + -1.9419004917144775, + -1.5707999467849731, + 2.4849019050598145, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.3438960313796997, + -1.310139536857605, + 2.2781338691711426, + -2.538609266281128, + -1.5707519054412842, + 6.057791709899902, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + -0.15960125625133514, + -2.273782968521118, + 2.4436593055725098, + -1.7400285005569458, + -1.5706024169921875, + 4.623737335205078, + 0.007016281597316265, + 0.007775900419801474 + ] + ], + "joint_vel": [ + [ + -0.00676035275682807, + -0.018449200317263603, + 0.022046301513910294, + -0.0037139037158340216, + -1.1701265975716524e-05, + -0.006866735871881247, + -3.2031425689638127e-06, + 3.203149844921427e-06 + ], + [ + 2.413897473863202e-38, + -3.042025586861101e-38, + 0.0, + -5.9610097696985915e-37, + 7.10925166798669e-37, + 2.4332759966951866e-36, + 0.0, + 1.0071575994455958e-37 + ], + [ + -6.811932053096825e-06, + 3.4059162317134906e-06, + 6.811929779360071e-06, + -5.2601820468844984e-12, + 8.984408811536782e-13, + 1.3623907761939336e-05, + 1.819453530060855e-07, + 1.8192336881384108e-07 + ], + [ + -0.0006371463532559574, + -0.0008813792373985052, + -0.003557464573532343, + 0.0002375534677412361, + -0.003066684352234006, + 0.006706663873046637, + -0.008271237835288048, + 0.00035031858715228736 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05044863745570183, + 0.0006019774591550231, + -0.031127387657761574, + -0.2686499357223511, + 0.6551876664161682, + 0.6476261615753174, + -0.28131234645843506 + ], + [ + 0.05448699742555618, + 0.001049994956701994, + -0.032271891832351685, + -0.27580782771110535, + 0.65373694896698, + 0.6443644165992737, + -0.28522366285324097 + ], + [ + 0.04890268296003342, + -0.001105792704038322, + -0.03290398046374321, + -0.2946907877922058, + 0.645094633102417, + 0.6467787027359009, + -0.28051307797431946 + ], + [ + 0.052932001650333405, + 0.0018404258880764246, + -0.03264866769313812, + -0.2853931784629822, + 0.6390973925590515, + 0.6599991321563721, + -0.27295854687690735 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e017/wrist.mp4 b/episodes/c5_p001_e017/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..eb8e9e0feb22fbd54bf536b8b32844932be95bac --- /dev/null +++ b/episodes/c5_p001_e017/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec031e9f066ee4b017085ad811c2f5688adaf5b08826a7c984d2821cb913c052 +size 6641205 diff --git a/episodes/c5_p001_e018/data.npz b/episodes/c5_p001_e018/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..e8e73dcabacdc93a99baa9d419e66b58573a2454 --- /dev/null +++ b/episodes/c5_p001_e018/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db06b0f70522bfc1234e92e2da36808b953d916ebf0691bdedbb610239bbb751 +size 193777 diff --git a/episodes/c5_p001_e018/device_events.jsonl b/episodes/c5_p001_e018/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..44cc8f869a991d99af73178bc5c3c70560881948 --- /dev/null +++ b/episodes/c5_p001_e018/device_events.jsonl @@ -0,0 +1,38 @@ +{"env_id": 2, "seq": 1, "step": 167, "t": 0.835, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 167, "t": 0.835, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 172, "t": 0.86, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 2263, "t": 11.315, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 2331, "t": 11.655, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 2457, "t": 12.285, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 7395, "t": 36.975, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 8, "step": 8008, "t": 40.04, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 9, "step": 8008, "t": 40.04, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.8871597474046315}, "cause": "task-2-1"} +{"env_id": 2, "seq": 10, "step": 8008, "t": 40.04, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 11, "step": 8008, "t": 40.04, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 8008, "t": 40.04, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 8427, "t": 42.135, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 14, "step": 8427, "t": 42.135, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 8427, "t": 42.135, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 16, "step": 8427, "t": 42.135, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 17, "step": 8427, "t": 42.135, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 18, "step": 8427, "t": 42.135, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 19, "step": 8427, "t": 42.135, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 8427, "t": 42.135, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 21, "step": 8427, "t": 42.135, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.8871597474046315}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 9205, "t": 46.025, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 23, "step": 9205, "t": 46.025, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.89000000000199}, "cause": "program-2-3"} +{"env_id": 2, "seq": 24, "step": 9205, "t": 46.025, "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": 3.89000000000199}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 25, "step": 9205, "t": 46.025, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 26, "step": 9205, "t": 46.025, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 27, "step": 9205, "t": 46.025, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 9625, "t": 48.125, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 29, "step": 9625, "t": 48.125, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.404874325876108e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 9625, "t": 48.125, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.404874325876108e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 31, "step": 9625, "t": 48.125, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 32, "step": 9625, "t": 48.125, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 33, "step": 9625, "t": 48.125, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 34, "step": 10206, "t": 51.03, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 11928, "t": 59.64, "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": 36, "step": 11928, "t": 59.64, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 37, "step": 11928, "t": 59.64, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 38, "step": 11928, "t": 59.64, "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/c5_p001_e018/env.mp4 b/episodes/c5_p001_e018/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e84cb591eb43a0f259847b5f824b0c82c3b43c68 --- /dev/null +++ b/episodes/c5_p001_e018/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8bfe2289ab9f65a4b611e8195c279e1b2601f5675d562a7f4ed390ec7b2808f6 +size 1349141 diff --git a/episodes/c5_p001_e018/meta.json b/episodes/c5_p001_e018/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..671e63064440eb2a55aeb908d075fe26b3205f10 --- /dev/null +++ b/episodes/c5_p001_e018/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/18", + "fps": 25, + "frames": 1267, + "kept_ticks": "even", + "video_frames": { + "wrist": 1267, + "env": 1267 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e018/scene_snapshot.json b/episodes/c5_p001_e018/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..6dd0122a7b90c78170ca296337b35cdf767e5d40 --- /dev/null +++ b/episodes/c5_p001_e018/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 18, + "env_id": 2, + "run_id": "c5_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.3549166089376072e-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": 0.24854022452450908, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.04749685274499543, + "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": 0.24854022452450908, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6328840255737305, + 0.5987091064453125, + 0.8999999761581421 + ], + "ori": [ + 0.8895177841186523, + -4.800228659007644e-09, + -5.112029022313891e-09, + 0.4569004774093628 + ], + "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": [ + -5.257383417500705e-11, + 1.4877926668432906e-10, + 0.0 + ], + "angular_velocity": [ + -1.468916988045521e-08, + -4.971774103523785e-10, + -3.859544905893131e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3463134765625, + 0.9808101654052734, + 0.8999999761581421 + ], + "ori": [ + -0.48139631748199463, + -1.0677768003120036e-08, + -2.1841589870064126e-08, + 0.8765031099319458 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.641076163849675e-11, + -6.329501367474677e-10, + 0.0 + ], + "angular_velocity": [ + 5.3284626488903086e-08, + 3.7922237794418834e-08, + -6.794889984007568e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.10950279235839844, + 1.1525306701660156, + 0.8999999761581421 + ], + "ori": [ + -0.009907656349241734, + -1.8335756024612238e-08, + -1.6815288050864297e-09, + 0.9999509453773499 + ], + "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": [ + 2.672027488159756e-09, + 1.01423154319491e-08, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.817951383349282e-07, + 1.2453637054932187e-07, + -6.827877285786599e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.10315704345703125, + 0.4475250244140625, + 0.8999999761581421 + ], + "ori": [ + 0.9999326467514038, + -1.2328715826015468e-09, + 4.0980534521395384e-09, + 0.011612286791205406 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.998504638502709e-09, + -7.175772864798091e-09, + 3.725290298461914e-08 + ], + "angular_velocity": [ + 2.677457473510003e-07, + -3.934010806005972e-07, + -3.597105902031217e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.6452159881591797, + 0.6027965545654297, + 0.9179999828338623 + ], + "ori": [ + 0.9194374680519104, + -3.7236831396114667e-09, + -4.349323567964802e-09, + 0.39323630928993225 + ], + "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": [ + -2.6698579347339546e-08, + -1.7373846361579126e-08, + 6.705522537231445e-08 + ], + "angular_velocity": [ + 1.1054203241656069e-06, + -9.532869853501325e-07, + 6.568546950802556e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.3609437942504883, + 0.9795093536376953, + 0.9180000424385071 + ], + "ori": [ + -0.5315226912498474, + -1.1387889742309198e-08, + -2.2122495835219524e-08, + 0.847044050693512 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.8960532577902995e-08, + 1.3566276990673032e-08, + -5.360692739486694e-06 + ], + "angular_velocity": [ + -1.7933169829120743e-06, + 1.48220806295285e-06, + 5.456764995415142e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.11015796661376953, + 1.1629009246826172, + 0.9180000424385071 + ], + "ori": [ + 0.08383190631866455, + -1.7319024436801556e-08, + -3.800299186451639e-09, + 0.9964799880981445 + ], + "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": [ + 4.499219841136437e-08, + 4.94032761366725e-08, + -5.3942203521728516e-06 + ], + "angular_velocity": [ + 9.121079074247973e-07, + 2.933248879344319e-06, + -1.7841671251517255e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.10228347778320312, + 0.4515848159790039, + 0.9179999828338623 + ], + "ori": [ + 0.9984872937202454, + 8.002574714005561e-10, + 3.686253968737674e-09, + 0.05498434975743294 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1644151243217493e-07, + -8.455989330968805e-08, + -1.2740492820739746e-06 + ], + "angular_velocity": [ + 3.050742634513881e-06, + -4.1562930164218415e-06, + 1.0912994241607521e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 9.120000000000026, + "step": 1824, + "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": 2.3549166089376072e-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": 0.24854022452450908, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1656, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.482884019613266, + 0.14870911836624146, + 0.0 + ], + "carrier_2": [ + -1.4963134825229645, + 0.5308101773262024, + 0.0 + ], + "carrier_3": [ + -0.04049721360206604, + 0.7025306820869446, + 0.0 + ], + "carrier_4": [ + -0.04684296250343323, + -0.002474963665008545, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.5608819653507208, + 0.4621403086810453, + 3.0229704483023183 + ], + "ori": [ + -12.063532365341576, + -13.453246303696282, + 6.83391736813951 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3883.2987471546558, + "color": [ + 0.8869127256489366, + 0.976770316252731, + 0.8625936465152622 + ], + "intensity": 4289.528878286004, + "width": 2.145363186684969, + "height": 1.8398436278993886 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.8842079081554894, + 0.3778960076471758, + 2.6675278029537757 + ], + "ori": [ + -15.46285974128483, + 13.318264752204186, + -19.18903368307018 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6252.316065737277, + "color": [ + 0.9883088346384099, + 0.7883874437834604, + 0.9110565160246462 + ], + "intensity": 8072.919061214771, + "radius": 0.17003543131148527 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 499.3498408337804, + "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": [ + [ + 1.5080691576004028, + -2.0568149089813232, + 2.6222305297851562, + -2.1358299255371094, + -1.5703094005584717, + 4.221500396728516, + 0.007622288074344397, + 0.00687650591135025 + ], + [ + 2.8055179119110107, + -1.66718590259552, + 1.897754192352295, + -1.8011821508407593, + -1.5702776908874512, + 4.3781304359436035, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 0.9141073226928711, + -1.7193962335586548, + 2.0904979705810547, + -1.9419007301330566, + -1.5707999467849731, + 2.484903573989868, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141035079956055, + -1.7193965911865234, + 2.090498685836792, + -1.9419009685516357, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -0.07342632859945297, + -0.0064543080516159534, + -0.008799321949481964, + 0.012386700138449669, + -0.0017659293953329325, + 0.013631932437419891, + -0.00818760134279728, + -0.0008547111647203565 + ], + [ + -6.811922048655106e-06, + -3.4059182780765695e-06, + -6.811928869865369e-06, + 5.092772557835357e-12, + -6.811954335717019e-06, + 1.3623914128402248e-05, + 1.8192808681760653e-07, + 1.8194644724189857e-07 + ], + [ + 2.2745355389891702e-38, + -2.6221822737050497e-38, + -1.9976888486639163e-38, + -3.4265823549714805e-37, + 7.187658464909118e-37, + 2.4567196975825654e-36, + 0.0, + 0.0 + ], + [ + 2.6089327164651657e-38, + 0.0, + 0.0, + -3.847640481792224e-37, + 6.2666739947868695e-37, + 5.628351379409069e-37, + -6.099481151372575e-38, + 6.169269178012266e-38 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05105714499950409, + -0.0013470397097989917, + -0.03389907628297806, + -0.27582505345344543, + 0.6501238942146301, + 0.6501473188400269, + -0.28029969334602356 + ], + [ + 0.051667239516973495, + 0.0034309320617467165, + -0.031152483075857162, + -0.2796297073364258, + 0.6567434072494507, + 0.6383711099624634, + -0.2880583107471466 + ], + [ + 0.049310438334941864, + -0.0031631391029804945, + -0.03126857429742813, + -0.29630354046821594, + 0.6407111287117004, + 0.6496416330337524, + -0.2822396755218506 + ], + [ + 0.05127819627523422, + 0.0007778300205245614, + -0.03246903792023659, + -0.28547123074531555, + 0.6421124339103699, + 0.6576114296913147, + -0.27156034111976624 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e018/wrist.mp4 b/episodes/c5_p001_e018/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bc0cd9b148870eee2a1606c4806e03abbd38f7f7 --- /dev/null +++ b/episodes/c5_p001_e018/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b7f76897e3fc4ee82ad407103875af6a663c146c7e550c2d443f6da11f024f6 +size 6945078 diff --git a/episodes/c5_p001_e019/data.npz b/episodes/c5_p001_e019/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..d2f9f172a830674680cfe43e72692abcf65bbcda --- /dev/null +++ b/episodes/c5_p001_e019/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48f136f9c33c45056165f4f62d6f6e5f26ecbb0ba06a30caffcb63e3af60e426 +size 187628 diff --git a/episodes/c5_p001_e019/device_events.jsonl b/episodes/c5_p001_e019/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..404932552afad31b910f7141a0848d71a1172373 --- /dev/null +++ b/episodes/c5_p001_e019/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 93, "t": 0.465, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 93, "t": 0.465, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 98, "t": 0.49, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 7011, "t": 35.055, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7620, "t": 38.1, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 7620, "t": 38.1, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.6751064571403989}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7620, "t": 38.1, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 7620, "t": 38.1, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 7620, "t": 38.1, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 8039, "t": 40.195, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 8039, "t": 40.195, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 8039, "t": 40.195, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 8039, "t": 40.195, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 8039, "t": 40.195, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 8039, "t": 40.195, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 8039, "t": 40.195, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 8039, "t": 40.195, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 8039, "t": 40.195, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.6751064571403989}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8375, "t": 41.875, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 8375, "t": 41.875, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.6800000000008595}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8375, "t": 41.875, "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": 1.6800000000008595}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8375, "t": 41.875, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 8375, "t": 41.875, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 8375, "t": 41.875, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8795, "t": 43.975, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8795, "t": 43.975, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8795, "t": 43.975, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8795, "t": 43.975, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8795, "t": 43.975, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8795, "t": 43.975, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 9375, "t": 46.875, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 11104, "t": 55.52, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 11104, "t": 55.52, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11104, "t": 55.52, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11104, "t": 55.52, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p001_e019/env.mp4 b/episodes/c5_p001_e019/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6e2415a787e734c00c0eea19ffaa94124e06ab07 --- /dev/null +++ b/episodes/c5_p001_e019/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72c0888178045ea2e1e94ec4a0269b77398fe84ee0bf82d39dbcfb85f4bfe665 +size 1298152 diff --git a/episodes/c5_p001_e019/meta.json b/episodes/c5_p001_e019/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cf0243f7ea8d5b7ed79409790078244af411de3e --- /dev/null +++ b/episodes/c5_p001_e019/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/19", + "fps": 25, + "frames": 1203, + "kept_ticks": "even", + "video_frames": { + "wrist": 1203, + "env": 1203 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e019/scene_snapshot.json b/episodes/c5_p001_e019/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..4d8fae02d0111aa10ebd1633e8835e218cc78933 --- /dev/null +++ b/episodes/c5_p001_e019/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 19, + "env_id": 3, + "run_id": "c5_p001", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48097991943359375, + 0.1065673828125, + 0.8999999761581421 + ], + "ori": [ + 0.726047158241272, + 0.0, + 0.0, + -0.687644898891449 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.0092503005196263e-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": 0.19031159349459076, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.041505371189887896, + "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": 0.19031159349459076, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5241889953613281, + 1.1499948501586914, + 0.8999999761581421 + ], + "ori": [ + 4.043241642648354e-05, + 5.715321271804186e-11, + 3.6826270921608284e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.180297633193391e-10, + -1.8803203438721994e-10, + 0.0 + ], + "angular_velocity": [ + 7.094798348816767e-08, + -6.257808138343535e-08, + -1.1253796117216552e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3954086303710938, + 0.7503480911254883, + 0.8999999761581421 + ], + "ori": [ + -0.7552789449691772, + -1.0559399044041129e-07, + -3.036241480458557e-08, + 0.6554035544395447 + ], + "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": [ + 1.264620976826336e-07, + -1.1679351246129954e-06, + -2.678483724594116e-06 + ], + "angular_velocity": [ + 0.0001043175725499168, + 1.0807691069203429e-05, + 1.8587584804663493e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.10893058776855469, + 0.4499988555908203, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.973269269152979e-09, + -4.2486092421967214e-10, + 1.0430932206872967e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.339657687703948e-10, + -2.0092123520498717e-09, + 0.0 + ], + "angular_velocity": [ + 4.8338851144080763e-08, + -4.62418228153183e-08, + 1.4484194288399976e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5932435989379883, + 1.0497112274169922, + 0.8999999761581421 + ], + "ori": [ + 0.38006043434143066, + 3.442649543217158e-08, + -2.5337405418213166e-07, + 0.9249616861343384 + ], + "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": [ + 7.56735332174685e-08, + 3.337033049888305e-08, + 8.195638656616211e-08 + ], + "angular_velocity": [ + -1.5340624486270826e-06, + 3.599856427172199e-06, + -7.131824872885772e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.5363082885742188, + 1.1403512954711914, + 0.9179999828338623 + ], + "ori": [ + -0.043369926512241364, + -8.58561138850078e-11, + 5.311254103190777e-09, + 0.9990590810775757 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8772283283396973e-08, + 1.7240298078036176e-08, + 9.313225746154785e-08 + ], + "angular_velocity": [ + -1.02300111848308e-06, + 1.3686258171219379e-06, + 4.7369145050879524e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.3919553756713867, + 0.7552471160888672, + 0.9179999828338623 + ], + "ori": [ + -0.7031140923500061, + -3.9101166748878313e-10, + -9.959488522781612e-08, + 0.7110771536827087 + ], + "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": [ + -2.1310879674274474e-06, + -2.1636674318870064e-06, + -7.320195436477661e-06 + ], + "angular_velocity": [ + 0.00011848882422782481, + -4.787457874044776e-05, + -1.705348950054031e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.12265586853027344, + 0.45545005798339844, + 0.9180000424385071 + ], + "ori": [ + 0.9998660087585449, + 5.425943250259024e-09, + 5.114405565720404e-10, + 0.016372306272387505 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.139117327715212e-08, + -3.5779439855332384e-08, + -5.416572093963623e-06 + ], + "angular_velocity": [ + 9.924294772645226e-07, + -1.4401151702259085e-06, + 3.5984932367227884e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.5992755889892578, + 1.0458183288574219, + 0.9179999828338623 + ], + "ori": [ + 0.4451967775821686, + -2.4012220478653035e-07, + -5.122855668560078e-07, + 0.8954328298568726 + ], + "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": [ + -2.5258200366806705e-06, + -1.1159211680933367e-05, + -7.599592208862305e-06 + ], + "angular_velocity": [ + 9.31202812353149e-05, + -2.5573088350938633e-05, + 5.6915669119916856e-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": 7.61999999999986, + "step": 1524, + "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": 1.0092503005196263e-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": 0.19031159349459076, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1430, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.37418898940086365, + 0.6999948620796204, + 0.0 + ], + "carrier_2": [ + -1.5454086363315582, + 0.30034810304641724, + 0.0 + ], + "carrier_3": [ + -0.04106941819190979, + -1.1324882507324219e-06, + 0.0 + ], + "carrier_4": [ + 1.4432435929775238, + 0.5997112393379211, + 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": [ + 0.19659088314533568, + 0.3664121602124032, + 2.7219047377408594 + ], + "ori": [ + 3.933858685086342, + -3.4766934771967737, + -14.49932687266906 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4516.533979329396, + "color": [ + 0.8984959841402403, + 0.9833006681639654, + 0.9466055479803852 + ], + "intensity": 6174.95529245418, + "width": 1.833088484580917, + "height": 1.8966627615352203 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.317333981770954, + 1.5930388692586954, + 2.522653830817517 + ], + "ori": [ + 21.325332783381008, + -30.18601534629548, + 35.214224534818584 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6450.044713154276, + "color": [ + 0.956211043117124, + 0.8161599513585189, + 0.9533789384152261 + ], + "intensity": 2657.990906494417, + "radius": 0.2309833480628532 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 499.3498408337804, + "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": [ + [ + -0.25132614374160767, + -2.0337321758270264, + 2.666980266571045, + -2.186891555786133, + -1.5275663137435913, + 4.421842098236084, + 0.006813902873545885, + 0.006065947003662586 + ], + [ + 2.531362771987915, + -2.252866506576538, + 2.2439496517181396, + -1.5615642070770264, + -1.570346713066101, + 4.103976726531982, + 0.01799999363720417, + 0.018000004813075066 + ], + [ + 0.8373503088951111, + -1.1713783740997314, + 2.072340965270996, + -2.4715559482574463, + -1.5707820653915405, + 2.297980785369873, + 0.007800237741321325, + 0.007249381393194199 + ], + [ + 0.91411292552948, + -1.7193927764892578, + 2.0904974937438965, + -1.941901445388794, + -1.5707999467849731, + 2.4849047660827637, + 0.018000001087784767, + 0.01799999736249447 + ] + ], + "joint_vel": [ + [ + -0.0018660391215234995, + 0.009209724143147469, + 0.005928324535489082, + -0.016200751066207886, + 0.0004322165623307228, + 0.0017901570536196232, + -0.010898971930146217, + -0.00022203930711839348 + ], + [ + 6.811903404013719e-06, + -2.028754768346186e-11, + 6.811937510065036e-06, + 3.4059737572533777e-06, + 3.8262668315865167e-13, + -1.3623914128402248e-05, + 7.797687828769995e-08, + -7.798486478804989e-08 + ], + [ + -0.0019013932906091213, + -0.00038915162440389395, + -0.001532750902697444, + -0.004118287470191717, + 0.0014650727389380336, + 0.0035698541905730963, + -0.007181407418102026, + 0.000390601868275553 + ], + [ + 5.108948698762106e-06, + -3.4059546578646405e-06, + 6.811946605012054e-06, + -1.3359005741897523e-12, + -3.405976940484834e-06, + 1.5061343014780015e-12, + -2.5986111040765536e-08, + 2.5990146923504653e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04937230423092842, + -0.0017800742061808705, + -0.030555790290236473, + -0.2686123847961426, + 0.6503862738609314, + 0.6536304950714111, + -0.27858981490135193 + ], + [ + 0.05539083853363991, + 0.0015957779251039028, + -0.03173056244850159, + -0.27063843607902527, + 0.6583478450775146, + 0.6421808004379272, + -0.28449389338493347 + ], + [ + 0.04877442866563797, + -0.00023992249043658376, + -0.032810892909765244, + -0.29298093914985657, + 0.642786979675293, + 0.64907306432724, + -0.282296359539032 + ], + [ + 0.04912949725985527, + 0.0008101273560896516, + -0.03148804232478142, + -0.2837003171443939, + 0.6398334503173828, + 0.662024736404419, + -0.26804935932159424 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e019/wrist.mp4 b/episodes/c5_p001_e019/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6bad25fbd34dd055ce1bc1baab9e857292c370a3 --- /dev/null +++ b/episodes/c5_p001_e019/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a800dcff23e860116a6c695b963279fd50dac8393a4b919aa35de91c873b4fc7 +size 7037546 diff --git a/episodes/c5_p001_e020/data.npz b/episodes/c5_p001_e020/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..0364148b2527d8156df0726c582000625b4698a2 --- /dev/null +++ b/episodes/c5_p001_e020/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b341515ffe18d2859580aa6e8e2a7bf6ef3f09a1e00d2456bc15e4b9003da803 +size 193073 diff --git a/episodes/c5_p001_e020/device_events.jsonl b/episodes/c5_p001_e020/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3253c4787a7bb8945fb61b9b053b0f52c4e6e799 --- /dev/null +++ b/episodes/c5_p001_e020/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 133, "t": 0.665, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 133, "t": 0.665, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 138, "t": 0.69, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1442, "t": 7.21, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6469, "t": 32.345, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 7080, "t": 35.4, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7080, "t": 35.4, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.3247822843524695}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 7080, "t": 35.4, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 9, "step": 7080, "t": 35.4, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 10, "step": 7080, "t": 35.4, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 11, "step": 7499, "t": 37.495, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 12, "step": 7499, "t": 37.495, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 7499, "t": 37.495, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7499, "t": 37.495, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 7499, "t": 37.495, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7499, "t": 37.495, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 7499, "t": 37.495, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 18, "step": 7499, "t": 37.495, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 19, "step": 7499, "t": 37.495, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.3247822843524695}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 7964, "t": 39.82, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 21, "step": 7964, "t": 39.82, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.3250000000011894}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7964, "t": 39.82, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.3250000000011894}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 7964, "t": 39.82, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 24, "step": 7964, "t": 39.82, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 25, "step": 7964, "t": 39.82, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 26, "step": 8384, "t": 41.92, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 27, "step": 8384, "t": 41.92, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8384, "t": 41.92, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8384, "t": 41.92, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 8384, "t": 41.92, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8384, "t": 41.92, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 8963, "t": 44.815, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 33, "step": 10720, "t": 53.6, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 10720, "t": 53.6, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 10720, "t": 53.6, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 10720, "t": 53.6, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p001_e020/env.mp4 b/episodes/c5_p001_e020/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b5177a898ea1779fa7986e5317f2cb4fe6a7ff29 --- /dev/null +++ b/episodes/c5_p001_e020/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21a6c62c6e58bc29dd27f15fc7a470bafc03c59ed89f6a3f34a8f6b343cb2ebd +size 1242822 diff --git a/episodes/c5_p001_e020/meta.json b/episodes/c5_p001_e020/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5eb122b0fe35c45541f0f05d72ae33b33c62a1c2 --- /dev/null +++ b/episodes/c5_p001_e020/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/20", + "fps": 25, + "frames": 1215, + "kept_ticks": "even", + "video_frames": { + "wrist": 1215, + "env": 1215 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e020/scene_snapshot.json b/episodes/c5_p001_e020/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..21e0ed0cfe018c1640f676b066004f2dc7dc9553 --- /dev/null +++ b/episodes/c5_p001_e020/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 20, + "env_id": 0, + "run_id": "c5_p001", + "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_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5098752975463867, + 0.08571529388427734, + 0.8999999761581421 + ], + "ori": [ + 0.7111824154853821, + 0.0, + 0.0, + -0.7030075192451477 + ], + "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": [ + 2.6913323999955274e-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": 0.29071046458104416, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2174108896323801, + "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": 0.29071046458104416, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.06767463684082031, + 0.4475860595703125, + 0.8999999761581421 + ], + "ori": [ + 0.9999501705169678, + 6.001603658489785e-10, + 3.1927691601651986e-09, + 0.00998824555426836 + ], + "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": [ + -1.531693438749926e-09, + -4.235943151797983e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.2367658541734272e-07, + -7.929583745180935e-08, + -5.721332740904472e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.050925254821777344, + 1.1535396575927734, + 0.8999999761581421 + ], + "ori": [ + -0.0018445936730131507, + -7.725853734541488e-09, + 6.089184712010365e-10, + 0.9999983310699463 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8383272681887775e-10, + -2.741169513598152e-10, + 0.0 + ], + "angular_velocity": [ + 5.73765248645941e-08, + 2.4180737412393682e-08, + -9.424138802671678e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3581953048706055, + 0.6386566162109375, + 0.8999999761581421 + ], + "ori": [ + -0.8513018488883972, + 1.1952423051297956e-08, + -5.448690387765964e-10, + 0.5246763825416565 + ], + "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": [ + 4.910702955385204e-10, + 5.424567461886909e-10, + 0.0 + ], + "angular_velocity": [ + -3.605964593589306e-08, + 3.5779521567746997e-09, + 8.444999366474804e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.356644630432129, + 0.4513721466064453, + 0.8999999761581421 + ], + "ori": [ + 0.9996505379676819, + -5.699229088662605e-09, + 6.24762641621146e-09, + 0.02643573470413685 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.685670740300907e-10, + 1.218072198660991e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -7.346772434857485e-08, + 4.662864583337978e-08, + -3.9515990479799257e-10 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -0.06267261505126953, + 0.44348907470703125, + 0.9179999828338623 + ], + "ori": [ + 0.9994006156921387, + 1.0164907804366408e-09, + 4.901039130089657e-09, + 0.03462081030011177 + ], + "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": [ + -8.237462623128522e-08, + -6.004406571946674e-08, + 1.6391277313232422e-07 + ], + "angular_velocity": [ + 1.104073817259632e-06, + -3.369682872289559e-06, + 8.322162159402069e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.03697776794433594, + 1.1569652557373047, + 0.9180000424385071 + ], + "ori": [ + -0.08326275646686554, + -7.172474614236535e-09, + 2.443090174608642e-09, + 0.9965276718139648 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.355301731427062e-08, + -1.4580151308507538e-08, + -5.505979061126709e-06 + ], + "angular_velocity": [ + -7.976976945656133e-08, + 1.429115627615829e-06, + 1.6788020218427846e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.3602943420410156, + 0.6465024948120117, + 0.9180000424385071 + ], + "ori": [ + -0.8863779902458191, + 1.8391716594123864e-08, + -5.133729885642424e-08, + 0.46296223998069763 + ], + "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": [ + 4.2287990709155565e-07, + 2.1581831788353156e-06, + -1.0058283805847168e-07 + ], + "angular_velocity": [ + -1.2191878340672702e-05, + 3.1825875339563936e-06, + 1.590104329807218e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.3612070083618164, + 0.4459047317504883, + 0.9179999828338623 + ], + "ori": [ + 0.9999974966049194, + -1.887201284134221e-09, + 1.1770076469019841e-08, + -0.0022283277940005064 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2546524885692634e-07, + 6.248827588706263e-08, + -1.0095536708831787e-06 + ], + "angular_velocity": [ + -1.3458977718983078e-06, + -5.761121428804472e-06, + 2.3692369666150626e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 5.139999999999913, + "step": 1028, + "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": 2.6913323999955274e-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": 0.29071046458104416, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 894, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.2176746428012848, + -0.002413928508758545, + 0.0 + ], + "carrier_2": [ + -0.09907475113868713, + 0.7035396695137024, + 0.0 + ], + "carrier_3": [ + -1.50819531083107, + 0.18865662813186646, + 0.0 + ], + "carrier_4": [ + 1.2066446244716644, + 0.0013721585273742676, + 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": [ + 0.22845115599429766, + -0.2570358335832108, + 2.7554058516606865 + ], + "ori": [ + -13.475982139467925, + 10.935900949322267, + 8.015385777118432 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6678.565246307478, + "color": [ + 0.8471500504167437, + 0.8701071471322346, + 0.8233663528966257 + ], + "intensity": 13399.96654197044, + "width": 1.7945784467387862, + "height": 1.3396459600130768 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.4206513175730446, + -0.07737985450980145, + 1.6347607710943082 + ], + "ori": [ + 5.024283036202462, + 1.2894420706926653, + 2.1173604161313975 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6899.111780662566, + "color": [ + 0.8609144821900053, + 0.7686007369787569, + 0.9916656495907238 + ], + "intensity": 3406.387401953538, + "radius": 0.1873391772363322 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 509.32414412879194, + "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": [ + [ + 0.91410231590271, + -1.7193981409072876, + 2.0904994010925293, + -1.9419004917144775, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + -0.05465972051024437, + -2.1192941665649414, + 2.3892006874084473, + -1.8399745225906372, + -1.5705323219299316, + 4.634848594665527, + 0.0066956342197954655, + 0.007940464653074741 + ], + [ + -0.31072425842285156, + -2.093050003051758, + 2.4577105045318604, + -1.9358171224594116, + -1.5710035562515259, + 4.397985935211182, + 0.01799999363720417, + 0.018000004813075066 + ], + [ + -0.3366171717643738, + -2.0486905574798584, + 2.587064027786255, + -2.108745574951172, + -1.5709108114242554, + 4.343885898590088, + 0.007680967450141907, + 0.006949811242520809 + ] + ], + "joint_vel": [ + [ + 0.0, + -2.96861996810591e-38, + -2.820225823850226e-38, + -4.305308595980287e-37, + 6.344218937101799e-37, + 1.129130541416128e-37, + 2.59903654153959e-08, + -2.599039738981901e-08 + ], + [ + 0.038103170692920685, + 0.013499638065695763, + -0.01368492841720581, + -0.008700677193701267, + -0.0034788630437105894, + 0.047761548310518265, + -0.00975808035582304, + 0.000579739105887711 + ], + [ + 8.288379467558116e-05, + -0.012344954535365105, + -0.01910085789859295, + 0.030470047146081924, + 9.874625902739353e-06, + 3.2662383908643733e-09, + 6.475771101577266e-07, + -6.474735414485622e-07 + ], + [ + -0.0005005077109672129, + 0.018065867945551872, + 0.01528986170887947, + -0.03310104086995125, + -0.0007033473229967058, + 0.0017043278785422444, + -0.009304339997470379, + 0.000297175400191918 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.052310336381196976, + 0.0009147749515250325, + -0.031056197360157967, + -0.2738175094127655, + 0.6530458331108093, + 0.6513176560401917, + -0.2726545035839081 + ], + [ + 0.05158136785030365, + 0.0023248528596013784, + -0.033164191991090775, + -0.2730799615383148, + 0.6591257452964783, + 0.6392003297805786, + -0.2870602011680603 + ], + [ + 0.047263555228710175, + -1.1648291547317058e-05, + -0.03272348269820213, + -0.2913106083869934, + 0.6424511671066284, + 0.6514173746109009, + -0.27937430143356323 + ], + [ + 0.051594678312540054, + 0.0005910027539357543, + -0.03290553018450737, + -0.27528345584869385, + 0.645899772644043, + 0.6613685488700867, + -0.26386380195617676 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e020/wrist.mp4 b/episodes/c5_p001_e020/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f02ac1ef960396ed38b7b61b8a618bcb3b792df9 --- /dev/null +++ b/episodes/c5_p001_e020/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cfffa49651ca15b1615f8a220e7070aa9670e1338d2ac70b1fda1931a373b9bd +size 7208010 diff --git a/episodes/c5_p001_e021/data.npz b/episodes/c5_p001_e021/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..6e751128db3eb082bbe8389e2d1c0f0055947925 --- /dev/null +++ b/episodes/c5_p001_e021/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6daf0e5d6d9a2172a77e8ba564ce5c9ed542c4ed23e2dba0b0c934160d48fe8 +size 193712 diff --git a/episodes/c5_p001_e021/device_events.jsonl b/episodes/c5_p001_e021/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4819116dc7c0e1f69d01470e30fdd8095b6d95e4 --- /dev/null +++ b/episodes/c5_p001_e021/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 109, "t": 0.545, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 109, "t": 0.545, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 114, "t": 0.57, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6475, "t": 32.375, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7088, "t": 35.44, "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": 7088, "t": 35.44, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.4304028037253715}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7088, "t": 35.44, "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": 7088, "t": 35.44, "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": 7088, "t": 35.44, "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": 7507, "t": 37.535, "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": 7507, "t": 37.535, "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": 7507, "t": 37.535, "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": 7507, "t": 37.535, "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": 7507, "t": 37.535, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7507, "t": 37.535, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7507, "t": 37.535, "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": 7507, "t": 37.535, "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": 7507, "t": 37.535, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.4304028037253715}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8394, "t": 41.97, "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": 8394, "t": 41.97, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.435000000002269}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8394, "t": 41.97, "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": 4.435000000002269}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8394, "t": 41.97, "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": 8394, "t": 41.97, "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": 8394, "t": 41.97, "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": 8814, "t": 44.07, "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": 8814, "t": 44.07, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8814, "t": 44.07, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8814, "t": 44.07, "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": 8814, "t": 44.07, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8814, "t": 44.07, "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": 9395, "t": 46.975, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 11164, "t": 55.82, "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": 11164, "t": 55.82, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11164, "t": 55.82, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11164, "t": 55.82, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p001_e021/env.mp4 b/episodes/c5_p001_e021/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1944d14e43b51344ca4698599aa6926f7076e891 --- /dev/null +++ b/episodes/c5_p001_e021/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29874b4bc7dce2484e65a91924396d1b860f9f0914d3a776d5b6f1f299549f0c +size 1433393 diff --git a/episodes/c5_p001_e021/meta.json b/episodes/c5_p001_e021/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8cabd27a92b12209e1233c78ca869807c8a486d1 --- /dev/null +++ b/episodes/c5_p001_e021/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/21", + "fps": 25, + "frames": 1264, + "kept_ticks": "even", + "video_frames": { + "wrist": 1264, + "env": 1264 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e021/scene_snapshot.json b/episodes/c5_p001_e021/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..8344513fd98688adf5c94c874b27dd502fcc2da9 --- /dev/null +++ b/episodes/c5_p001_e021/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 21, + "env_id": 1, + "run_id": "c5_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 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": 0.216041225752519, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1235806982954834, + "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": 0.216041225752519, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6031312942504883, + 0.5628547668457031, + 0.8999999761581421 + ], + "ori": [ + 0.9200724363327026, + -1.86944760116603e-07, + -1.6587463846917672e-07, + 0.3917485773563385 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.4949949661845494e-08, + -2.0307297177168948e-08, + -1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.2997473959330819e-06, + 1.9228837118134834e-06, + -1.2599100784882467e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3883590698242188, + 0.8781833648681641, + 0.8999999761581421 + ], + "ori": [ + -0.6178385019302368, + 7.452096717486256e-09, + 2.8305256805083445e-08, + 0.7863051295280457 + ], + "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": [ + -1.2552401340570896e-09, + 2.029428403105271e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.2850102848460665e-07, + -5.7431961408838106e-09, + -3.0932909567127354e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.02707958221435547, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.406852216476409e-09, + -3.0278241025527564e-10, + -2.7251235223957337e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.797880981399771e-10, + 8.085116465217368e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -3.377770241286271e-08, + 4.037556422531452e-08, + -1.1999521376537814e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5986747741699219, + 1.1532306671142578, + 0.8999999761581421 + ], + "ori": [ + 0.0004079516511410475, + -4.4763420747884197e-10, + 2.338134130752678e-09, + 0.9999999403953552 + ], + "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": [ + 2.1399815253175802e-09, + 4.127669761544439e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -2.2985452119428373e-07, + 1.4503308420898975e-07, + -3.0141979578957034e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 1.5940580368041992, + 0.5651226043701172, + 0.9179999828338623 + ], + "ori": [ + 0.8751164674758911, + -2.06395355917266e-07, + -1.4701396366945119e-07, + 0.4839123487472534 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.720368368931304e-08, + -7.183962225099094e-08, + 8.195638656616211e-08 + ], + "angular_velocity": [ + 3.4900174341601087e-06, + 2.1296496015565936e-06, + -3.804119330652611e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.3822307586669922, + 0.8698444366455078, + 0.9180000424385071 + ], + "ori": [ + -0.6682785153388977, + 9.080566520935918e-09, + 2.7037916794370176e-08, + 0.7439112663269043 + ], + "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": [ + -3.5229874573161624e-09, + 4.395597841266863e-08, + -4.991888999938965e-06 + ], + "angular_velocity": [ + -2.5453839498368325e-06, + -8.661519359520753e-07, + 5.3128218269193894e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.01759052276611328, + 0.4502677917480469, + 0.9179999828338623 + ], + "ori": [ + 0.9974937438964844, + 4.9285802106169285e-09, + -6.67533028853029e-10, + 0.07075528800487518 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.9246588767174444e-09, + 9.48721989857404e-09, + -5.621463060379028e-06 + ], + "angular_velocity": [ + 8.172398793249158e-07, + -1.6394435533584328e-06, + -5.47052074750809e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.5926322937011719, + 1.160639762878418, + 0.9179999828338623 + ], + "ori": [ + -0.008792142383754253, + -8.443302168537059e-10, + 8.255083727704005e-09, + 0.9999613761901855 + ], + "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": [ + 1.3844002921814536e-07, + 4.5644441115655354e-08, + 2.2724270820617676e-07 + ], + "angular_velocity": [ + -2.2922030495919898e-07, + 4.8357992454839405e-06, + 1.0849488774056226e-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": 5.479999999999905, + "step": 1096, + "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": 0.216041225752519, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 986, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.4531312882900238, + 0.11285477876663208, + 0.0 + ], + "carrier_2": [ + -1.5383590757846832, + 0.428183376789093, + 0.0 + ], + "carrier_3": [ + -0.12292042374610901, + 2.682209014892578e-06, + 0.0 + ], + "carrier_4": [ + 0.4486747682094574, + 0.7032306790351868, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.13843050843752125, + -0.07450762934882865, + 3.0278439356492455 + ], + "ori": [ + -14.849986619470082, + 5.417831636280347, + 11.184979810592978 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3327.4992335530756, + "color": [ + 0.8885021603802169, + 0.8144344563611414, + 0.9093987339949261 + ], + "intensity": 12003.952364518955, + "width": 1.8159840189641712, + "height": 0.815114363231485 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.26222693894197224, + 1.5493172268755202, + 2.3702045522490858 + ], + "ori": [ + 21.83918338917995, + -16.797353972884956, + 25.568276443052525 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6606.740183134139, + "color": [ + 0.8090420746284062, + 0.7718611781445801, + 0.9686573583998619 + ], + "intensity": 6928.1274201910055, + "radius": 0.2464972546132838 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 509.32414412879194, + "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": [ + [ + 2.8063716888427734, + -1.391632080078125, + 2.2199573516845703, + -2.3991615772247314, + -1.5705392360687256, + 4.377966403961182, + 0.017999986186623573, + 0.01799999177455902 + ], + [ + 0.9141027331352234, + -1.7193979024887085, + 2.0905001163482666, + -1.9419009685516357, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + -0.31200337409973145, + -1.9765247106552124, + 2.5827555656433105, + -2.1769356727600098, + -1.5706515312194824, + 4.395620346069336, + 0.007845253683626652, + 0.007116617634892464 + ], + [ + -0.3371126651763916, + -1.9556927680969238, + 2.654224395751953, + -2.2693185806274414, + -1.5708166360855103, + 4.344084739685059, + 0.007720227353274822, + 0.006931990850716829 + ] + ], + "joint_vel": [ + [ + -6.811931598349474e-06, + -3.4059157769661397e-06, + -6.81192432239186e-06, + -6.81194978824351e-06, + -6.811956609453773e-06, + 1.3623910490423441e-05, + 1.8195345319327316e-07, + 1.0396027505521488e-07 + ], + [ + 3.4059623885696055e-06, + 3.405936013223254e-06, + -1.104933939483077e-11, + 3.405976940484834e-06, + 1.6384238258650152e-13, + -6.811956609453773e-06, + 1.6279555828391246e-13, + 1.0357847392283848e-12 + ], + [ + -0.00023374865122605115, + -0.02187800407409668, + -0.01794424280524254, + 0.036824245005846024, + -0.0013531794538721442, + 0.0030501047149300575, + -0.008893038146197796, + 0.0003711843164637685 + ], + [ + -7.138348883017898e-05, + -0.009770875796675682, + -0.006300429813563824, + 0.015202522277832031, + 0.000380071927793324, + -0.001104796421714127, + -0.009802883490920067, + 0.00036541547160595655 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.052513666450977325, + -0.0010549344588071108, + -0.03234440088272095, + -0.2714204490184784, + 0.6564328670501709, + 0.645663321018219, + -0.2802601754665375 + ], + [ + 0.054583583027124405, + 0.0031473287381231785, + -0.03300337493419647, + -0.28090646862983704, + 0.6544978618621826, + 0.6408580541610718, + -0.28640016913414 + ], + [ + 0.049383457750082016, + -0.00029065588023513556, + -0.03015271946787834, + -0.2928597331047058, + 0.6440249681472778, + 0.6486835479736328, + -0.28049010038375854 + ], + [ + 0.051980454474687576, + -3.151460987282917e-05, + -0.03385632857680321, + -0.28194519877433777, + 0.6416119337081909, + 0.662909984588623, + -0.2634224593639374 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e021/wrist.mp4 b/episodes/c5_p001_e021/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..08ff5aca7f275355ab8f720acc4e1d636d93d795 --- /dev/null +++ b/episodes/c5_p001_e021/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79de91efbd6e3eb29db4bc64beb057e055323a2119cdd006b3d7314fc6c307e0 +size 8463840 diff --git a/episodes/c5_p001_e022/data.npz b/episodes/c5_p001_e022/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..46576806314ef3700068e84d818b8b8b98aa260d --- /dev/null +++ b/episodes/c5_p001_e022/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:774f5064961e833da3ed4bde0cac590b42aaeb9c80c3e4eff1bfb8e121fe3e94 +size 200107 diff --git a/episodes/c5_p001_e022/device_events.jsonl b/episodes/c5_p001_e022/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..852da7d63f483098b8cd1884e3dd938676c90e45 --- /dev/null +++ b/episodes/c5_p001_e022/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 227, "t": 1.135, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 227, "t": 1.135, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 232, "t": 1.16, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 5695, "t": 28.475, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6304, "t": 31.52, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 6, "step": 6304, "t": 31.52, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.536515652730973}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6304, "t": 31.52, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 8, "step": 6304, "t": 31.52, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 6304, "t": 31.52, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 6723, "t": 33.615, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 6723, "t": 33.615, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 6723, "t": 33.615, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 6723, "t": 33.615, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 6723, "t": 33.615, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 6723, "t": 33.615, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 6723, "t": 33.615, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 17, "step": 6723, "t": 33.615, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 6723, "t": 33.615, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.536515652730973}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7231, "t": 36.155, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 7231, "t": 36.155, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.5400000000012994}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7231, "t": 36.155, "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": 2.5400000000012994}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7231, "t": 36.155, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 23, "step": 7231, "t": 36.155, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 7231, "t": 36.155, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.489649178626934e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.489649178626934e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8231, "t": 41.155, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 10448, "t": 52.24, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 33, "step": 10448, "t": 52.24, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10448, "t": 52.24, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10448, "t": 52.24, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p001_e022/env.mp4 b/episodes/c5_p001_e022/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fccd615f853aa5a7a53c076e063645b03366eff8 --- /dev/null +++ b/episodes/c5_p001_e022/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1caccbd98b17044f2e7147ad9675ea2d34292694a7b4e98c13654b6f45a33a2 +size 1418561 diff --git a/episodes/c5_p001_e022/meta.json b/episodes/c5_p001_e022/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f20e3dc4460ce058e71198bb5e40cf783d8bbeb1 --- /dev/null +++ b/episodes/c5_p001_e022/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/22", + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e022/scene_snapshot.json b/episodes/c5_p001_e022/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..9ac4af88ab461533576147a63f2539df18e668a2 --- /dev/null +++ b/episodes/c5_p001_e022/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 22, + "env_id": 2, + "run_id": "c5_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.17154898227210183, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1780839442263458, + "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": 0.17154898227210183, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6927671432495117, + 0.8565549850463867, + 0.8999999761581421 + ], + "ori": [ + 0.6495891213417053, + -2.9305912363497555e-08, + -8.965174203012793e-08, + 0.7602855563163757 + ], + "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": [ + 8.688679287160994e-08, + -5.176078232693726e-09, + 6.332993507385254e-08 + ], + "angular_velocity": [ + 1.7502677565062186e-06, + 2.8342280984361423e-06, + -8.075509185800911e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6255331039428711, + 1.152735710144043, + 0.8999999761581421 + ], + "ori": [ + -0.009710296988487244, + -8.044186150524268e-11, + -1.5378500695106823e-09, + 0.9999528527259827 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.649879344256533e-09, + -1.38607791910772e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 7.040937077817944e-08, + -1.580155668534644e-07, + -1.911313596281161e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.027547836303710938, + 0.44722557067871094, + 0.8999999761581421 + ], + "ori": [ + 0.9999516606330872, + 4.078354542969009e-09, + 3.972139284158516e-11, + 0.009837327525019646 + ], + "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": [ + -9.175740167677304e-10, + -3.919825797282783e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 2.281844757590079e-07, + -4.002517073331546e-08, + 1.6545360637110207e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3531837463378906, + 0.9697904586791992, + 0.8999999761581421 + ], + "ori": [ + -0.5071061849594116, + 6.826643783597319e-08, + 2.2134290844633142e-08, + 0.8618836402893066 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.899626482313124e-09, + -2.1189485721606616e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + 2.5295452132922946e-07, + 7.106940529411077e-07, + 5.5597112691430084e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.6821613311767578, + 0.8472681045532227, + 0.9179999828338623 + ], + "ori": [ + 0.6650487780570984, + -3.097124334772161e-08, + -8.950846108746191e-08, + 0.7467999458312988 + ], + "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": [ + 1.4920021840225672e-07, + -7.724172235157312e-08, + 1.2665987014770508e-07 + ], + "angular_velocity": [ + 2.728154868236743e-06, + 4.318886567489244e-06, + -6.727674417561502e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.6209678649902344, + 1.1595525741577148, + 0.9180000424385071 + ], + "ori": [ + 0.07309187948703766, + -4.548751930677497e-10, + -6.772622462847266e-10, + 0.9973251819610596 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.770784904437278e-09, + -2.2038314284600347e-08, + -5.4426491260528564e-06 + ], + "angular_velocity": [ + 5.819059083478351e-07, + 1.7089558923544246e-06, + 1.0286868246112135e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -0.02111339569091797, + 0.4364509582519531, + 0.9180000424385071 + ], + "ori": [ + 0.9991438388824463, + 3.716203345049962e-09, + 5.527140967132027e-10, + -0.041372593492269516 + ], + "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": [ + -1.440548658138141e-08, + -3.329283870812105e-08, + -5.189329385757446e-06 + ], + "angular_velocity": [ + 3.6676630088550155e-07, + -1.9260021417721873e-06, + -8.143231866597489e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.3484411239624023, + 0.9646940231323242, + 0.9179999828338623 + ], + "ori": [ + -0.5728141665458679, + 7.06356004798181e-08, + 1.7834050680676228e-08, + 0.8196852207183838 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.347739945842477e-08, + 1.0418084173124953e-07, + -8.828938007354736e-07 + ], + "angular_velocity": [ + -5.448312094813446e-06, + -4.5673232307308353e-08, + 2.4760174710536376e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 3.0399999999999574, + "step": 608, + "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": 0.17154898227210183, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 380, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5427671372890472, + 0.4065549969673157, + 0.0 + ], + "carrier_2": [ + 0.4755330979824066, + 0.7027357220649719, + 0.0 + ], + "carrier_3": [ + -0.17754784226417542, + -0.0027744174003601074, + 0.0 + ], + "carrier_4": [ + -1.503183752298355, + 0.5197904706001282, + 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 + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.8616428304972935, + -0.4144372032244247, + 2.8083268514521733 + ], + "ori": [ + 14.50684694890115, + -0.8139423676697195, + 3.686290985174793 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6503.352272536744, + "color": [ + 0.9683443671698345, + 0.8829115344884467, + 0.9195555510934247 + ], + "intensity": 7831.9278245619735, + "width": 2.3617879404598803, + "height": 0.9480403594600171 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.6232559674482046, + 1.3589597539545826, + 2.222381568452205 + ], + "ori": [ + -9.475693636048021, + 23.392597677973527, + 1.7278483375464901 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4187.713962389171, + "color": [ + 0.9522432083748409, + 0.7790950382267571, + 0.9726612879381635 + ], + "intensity": 8185.188580438681, + "radius": 0.48501765230631144 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 509.32414412879194, + "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": [ + [ + 2.4643681049346924, + -1.9779325723648071, + 2.7086381912231445, + -2.301454544067383, + -1.5708293914794922, + 4.107531547546387, + 0.007728041615337133, + 0.007086627651005983 + ], + [ + 2.7918758392333984, + -1.6405589580535889, + 2.056878089904785, + -1.9870213270187378, + -1.567283034324646, + 4.359875202178955, + 0.018000029027462006, + 0.01799996942281723 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141021370887756, + -1.719398021697998, + 2.090498924255371, + -1.9419002532958984, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -0.029104825109243393, + -0.0037941578775644302, + -0.002866878407076001, + 0.005781800020486116, + -0.00020623437012545764, + 0.004731993190944195, + -0.007862240076065063, + 0.0001676971442066133 + ], + [ + -0.005928303115069866, + -0.01962168887257576, + 0.017405005171895027, + 0.0017696548020467162, + -8.759749107412063e-06, + -0.006062911823391914, + -3.0160631467879284e-06, + 3.0161641006998252e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 2.8939587859266836e-38, + -2.48161830500832e-38, + -2.651513412381218e-38, + -6.76231393424182e-37, + 7.240024876417059e-37, + 8.553570667789542e-37, + -1.9999802519127802e-38, + 7.250391121936748e-38 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.052372097969055176, + -0.0022996505722403526, + -0.03483448550105095, + -0.2662025988101959, + 0.6527513861656189, + 0.6537299752235413, + -0.2751161754131317 + ], + [ + 0.05267271399497986, + 0.002162744989618659, + -0.03177054971456528, + -0.27814018726348877, + 0.6555536389350891, + 0.6406816840171814, + -0.2870790958404541 + ], + [ + 0.04592538997530937, + 0.0020190987270325422, + -0.032713744789361954, + -0.29020237922668457, + 0.6404126882553101, + 0.6519550681114197, + -0.2839168906211853 + ], + [ + 0.050753358751535416, + 0.00010561288218013942, + -0.03134782239794731, + -0.2849370539188385, + 0.6438724398612976, + 0.6561033725738525, + -0.2716018259525299 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e022/wrist.mp4 b/episodes/c5_p001_e022/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fd918b530faace42e9652a8f4e052f27346c8392 --- /dev/null +++ b/episodes/c5_p001_e022/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed00c03ea5c59ade7f968b4758a2150030ade7b6604aeb4cd8a98fc52f99e45c +size 7079953 diff --git a/episodes/c5_p001_e023/data.npz b/episodes/c5_p001_e023/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..090fdd4e0d0630cf4b13dc52bb6e9af6247c9a9c --- /dev/null +++ b/episodes/c5_p001_e023/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65c920f7ab45ef993447fca7e65d0ac26b806b268bf800dd0ff7e96875197c90 +size 184772 diff --git a/episodes/c5_p001_e023/device_events.jsonl b/episodes/c5_p001_e023/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2dec207d96d363de9d11120d5c666e703281ed7e --- /dev/null +++ b/episodes/c5_p001_e023/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 117, "t": 0.585, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 117, "t": 0.585, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 122, "t": 0.61, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6311, "t": 31.555, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6924, "t": 34.62, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 6924, "t": 34.62, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.0658323123360804}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6924, "t": 34.62, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 6924, "t": 34.62, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6924, "t": 34.62, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7343, "t": 36.715, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7343, "t": 36.715, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7343, "t": 36.715, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7343, "t": 36.715, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7343, "t": 36.715, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7343, "t": 36.715, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7343, "t": 36.715, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7343, "t": 36.715, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7343, "t": 36.715, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.0658323123360804}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7957, "t": 39.785, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7957, "t": 39.785, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.0700000000015706}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7957, "t": 39.785, "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": 3.0700000000015706}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7957, "t": 39.785, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 7957, "t": 39.785, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7957, "t": 39.785, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8377, "t": 41.885, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8377, "t": 41.885, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.0292214858154125e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8377, "t": 41.885, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.0292214858154125e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8377, "t": 41.885, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8377, "t": 41.885, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8377, "t": 41.885, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8959, "t": 44.795, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 10644, "t": 53.22, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 10644, "t": 53.22, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10644, "t": 53.22, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 10644, "t": 53.22, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p001_e023/env.mp4 b/episodes/c5_p001_e023/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b5d3628b3bd3dd4dad6b0674475343cc59845a64 --- /dev/null +++ b/episodes/c5_p001_e023/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ce7f096fc137d0969cfb71f0f15bdba3cdabdc8443c62e2ae0600a4c5fde35c +size 1311863 diff --git a/episodes/c5_p001_e023/meta.json b/episodes/c5_p001_e023/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b98d48c815d64f27d9363df8c3cb23583a851fe4 --- /dev/null +++ b/episodes/c5_p001_e023/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/23", + "fps": 25, + "frames": 1188, + "kept_ticks": "even", + "video_frames": { + "wrist": 1188, + "env": 1188 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e023/scene_snapshot.json b/episodes/c5_p001_e023/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..e1a3d6a248b455a2ce8197b9cbaa1af11568e3e5 --- /dev/null +++ b/episodes/c5_p001_e023/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 23, + "env_id": 3, + "run_id": "c5_p001", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48097991943359375, + 0.1065673828125, + 0.8999999761581421 + ], + "ori": [ + 0.726047158241272, + 0.0, + 0.0, + -0.687644898891449 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 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": 0.2849957797320991, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.021282128303324488, + "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": 0.2849957797320991, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4649696350097656, + 0.4729948043823242, + 0.8999999761581421 + ], + "ori": [ + 0.9872275590896606, + -1.865574716930496e-08, + -3.599216213956424e-08, + 0.15931685268878937 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4959811167614134e-10, + -2.795541576006144e-13, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 4.1377600012992843e-08, + 1.9099051229432007e-08, + -6.8825625199053775e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.12932491302490234, + 0.4492979049682617, + 0.8999999761581421 + ], + "ori": [ + 0.9999415278434753, + 4.641408590799756e-09, + -2.1502166713815996e-10, + 0.010817713104188442 + ], + "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": [ + -3.545098659074597e-10, + 1.2798055948337606e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.2281483918741287e-07, + -5.1292914804434986e-08, + -7.237518140357224e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3591833114624023, + 0.9581470489501953, + 0.8999999761581421 + ], + "ori": [ + -0.5134788155555725, + 1.1063755778195627e-07, + -4.1870592326631595e-08, + 0.8581023216247559 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.188559416500425e-10, + -2.4802945808310994e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.1256810594773015e-08, + 3.890534827633019e-08, + -1.4854715235657068e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.01600170135498047, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + -1.4043277587916236e-05, + 2.1162209484781869e-10, + -3.774199175410331e-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": [ + 3.607136811467626e-10, + -2.4676014565017113e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.3830175760176644e-07, + 3.8352975906263964e-08, + 2.5175403983723754e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.4804391860961914, + 0.46718692779541016, + 0.9179999828338623 + ], + "ori": [ + 0.9872978329658508, + -1.6631492627539046e-08, + -3.7240596384435776e-08, + 0.15888021886348724 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.1912353648522185e-08, + 1.4696677652636936e-08, + 1.2293457984924316e-07 + ], + "angular_velocity": [ + 8.530085437996604e-08, + -1.8294366554982844e-06, + 1.7878930691495043e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.11627483367919922, + 0.4583263397216797, + 0.9180000424385071 + ], + "ori": [ + 0.9997619390487671, + 5.122820834202457e-09, + -5.38795452698082e-10, + -0.02182038128376007 + ], + "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": [ + -1.1093226781611065e-08, + 3.1587377158359686e-10, + -5.39049506187439e-06 + ], + "angular_velocity": [ + 7.951417160256824e-07, + -1.4277351283453754e-06, + 3.395529546423859e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.3564462661743164, + 0.9673557281494141, + 0.9180000424385071 + ], + "ori": [ + -0.5796444416046143, + 1.0743573852778354e-07, + -4.946904041958078e-08, + 0.8148695826530457 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.8749800318195184e-09, + 2.066055060367944e-08, + -5.695968866348267e-06 + ], + "angular_velocity": [ + -2.6254438125761226e-06, + -9.15067971618555e-07, + 8.622032865446272e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -0.023651123046875, + 1.1582860946655273, + 0.9179999828338623 + ], + "ori": [ + 0.08940218389034271, + -3.358496536431943e-10, + -4.685061227860388e-09, + 0.9959955811500549 + ], + "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": [ + 5.6725983910155264e-08, + -4.763042227295955e-08, + -1.389533281326294e-06 + ], + "angular_velocity": [ + 1.3668030760527472e-06, + 1.98145517060766e-06, + 1.1956159085002582e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 5.839999999999898, + "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": 0.2849957797320991, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1050, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.3149696290493011, + 0.022994816303253174, + 0.0 + ], + "carrier_2": [ + -0.020675092935562134, + -0.0007020831108093262, + 0.0 + ], + "carrier_3": [ + -1.5091833174228668, + 0.5081470608711243, + 0.0 + ], + "carrier_4": [ + -0.16600170731544495, + 0.7000005841255188, + 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": [ + 0.32401677283696984, + 0.5430009253216441, + 2.959140630055724 + ], + "ori": [ + -2.038391771638153, + -14.290881879834993, + 1.2445519234788556 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3327.190017103454, + "color": [ + 0.9629527903214493, + 0.9816103220257267, + 0.9924263997721646 + ], + "intensity": 6634.903657555682, + "width": 2.582199062140228, + "height": 1.535334361558072 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.693053817564349, + 0.6574692217863853, + 1.65475271716901 + ], + "ori": [ + -4.243890828922829, + -10.153044718527092, + -16.333236454579925 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6104.498181295436, + "color": [ + 0.7583718004570563, + 0.7876065393317007, + 0.9069485961820765 + ], + "intensity": 9006.2663649956, + "radius": 0.1485862365193229 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 509.32414412879194, + "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": [ + [ + -0.24858976900577545, + -2.331270933151245, + 2.517922878265381, + -1.7569160461425781, + -1.571508526802063, + 4.524312973022461, + 0.0077536702156066895, + 0.007055153138935566 + ], + [ + 2.5194313526153564, + -2.2344508171081543, + 2.413036823272705, + -1.7483357191085815, + -1.5674409866333008, + 4.087432861328125, + 0.017999988049268723, + 0.018000010401010513 + ], + [ + 0.9919848442077637, + -1.3424333333969116, + 2.3033225536346436, + -2.5316638946533203, + -1.5708189010620117, + 2.6454544067382812, + 0.007682078052312136, + 0.007131265942007303 + ], + [ + 0.9141041040420532, + -1.719395637512207, + 2.0904977321624756, + -1.941900372505188, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -0.0001568532461533323, + 0.004040827974677086, + 0.01108585111796856, + -0.014862796291708946, + -0.00025551157887093723, + 0.000560940767172724, + -0.008699511177837849, + 0.0002923872962128371 + ], + [ + -6.811907951487228e-06, + -2.0084532995068294e-11, + 6.811937510065036e-06, + 3.405972847758676e-06, + 1.8454668674304509e-13, + -1.4249691921222607e-12, + 1.559338471679439e-07, + -1.5594335422974837e-07 + ], + [ + 0.00019419618183746934, + -0.015188386663794518, + -0.004998300690203905, + 0.018781492486596107, + 0.00019654927018564194, + 0.000733854656573385, + -0.0069116693921387196, + 0.0002630172821227461 + ], + [ + 2.2440476284307016e-38, + 0.0, + 1.655591536126456e-38, + -5.066336079542506e-37, + 3.865139897014713e-37, + -2.5517351323196796e-37, + 2.5990388508034812e-08, + -2.599039206074849e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.051577698439359665, + -0.0023505818098783493, + -0.031360071152448654, + -0.27097785472869873, + 0.6548316478729248, + 0.6494982838630676, + -0.27553310990333557 + ], + [ + 0.05202990397810936, + 0.0019401151221245527, + -0.03030424751341343, + -0.2752792239189148, + 0.6562120914459229, + 0.6421177983283997, + -0.2851172089576721 + ], + [ + 0.047118429094552994, + -0.0004809903912246227, + -0.031166009604930878, + -0.29552334547042847, + 0.6417229771614075, + 0.6493241190910339, + -0.28148844838142395 + ], + [ + 0.05003725364804268, + 0.0010903945658355951, + -0.03278540447354317, + -0.28357264399528503, + 0.6406666040420532, + 0.6618133783340454, + -0.2667132318019867 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e023/wrist.mp4 b/episodes/c5_p001_e023/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..03ca2e75f8491e00a79da0f6565db7f8709ba157 --- /dev/null +++ b/episodes/c5_p001_e023/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2dc679e27be506c46d9b599f2cb96ad7d1a75606e7a69dd2e9bfca9d95e28f0 +size 6444102 diff --git a/episodes/c5_p001_e024/data.npz b/episodes/c5_p001_e024/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..a1487629eb289da0eb784d1fe5c82340ec5bc371 --- /dev/null +++ b/episodes/c5_p001_e024/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24cd632a6dc3894a77c0ec6e9c0fa047bab6d3a004d7f360ecc844da8a599f2d +size 200190 diff --git a/episodes/c5_p001_e024/device_events.jsonl b/episodes/c5_p001_e024/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c314b11cead4283f8894fb17ca60388bb7ee10c1 --- /dev/null +++ b/episodes/c5_p001_e024/device_events.jsonl @@ -0,0 +1,40 @@ +{"env_id": 0, "seq": 1, "step": 175, "t": 0.875, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 175, "t": 0.875, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 180, "t": 0.9, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 916, "t": 4.58, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 1002, "t": 5.01, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 1012, "t": 5.06, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 7, "step": 1023, "t": 5.115, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 8, "step": 1082, "t": 5.41, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 9, "step": 5778, "t": 28.89, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 10, "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": 11, "step": 6392, "t": 31.96, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.261302125477034}, "cause": "task-0-1"} +{"env_id": 0, "seq": 12, "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": 13, "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": 14, "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": 15, "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": 16, "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": 17, "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": 18, "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": 19, "step": 6811, "t": 34.055, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 20, "step": 6811, "t": 34.055, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 21, "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": 22, "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": 23, "step": 6811, "t": 34.055, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.261302125477034}, "cause": "program-0-3"} +{"env_id": 0, "seq": 24, "step": 7464, "t": 37.32, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 25, "step": 7464, "t": 37.32, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.2650000000016703}, "cause": "program-0-3"} +{"env_id": 0, "seq": 26, "step": 7464, "t": 37.32, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.2650000000016703}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 27, "step": 7464, "t": 37.32, "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": 28, "step": 7464, "t": 37.32, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 29, "step": 7464, "t": 37.32, "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": 30, "step": 7884, "t": 39.42, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 31, "step": 7884, "t": 39.42, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.751924544300513e-12}, "cause": "program-0-4"} +{"env_id": 0, "seq": 32, "step": 7884, "t": 39.42, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.751924544300513e-12}, "cause": "program-0-4"} +{"env_id": 0, "seq": 33, "step": 7884, "t": 39.42, "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": 34, "step": 7884, "t": 39.42, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 35, "step": 7884, "t": 39.42, "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": 36, "step": 8461, "t": 42.305, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 37, "step": 10708, "t": 53.54, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 38, "step": 10708, "t": 53.54, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 39, "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": 0, "seq": 40, "step": 10708, "t": 53.54, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p001_e024/env.mp4 b/episodes/c5_p001_e024/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..81ede23565a3fdab0883b78a9688589a45d1d83c --- /dev/null +++ b/episodes/c5_p001_e024/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe9376275aee0f47b50676398178797f6ccfb70f37c995288ab9d2f0249416cf +size 1353087 diff --git a/episodes/c5_p001_e024/meta.json b/episodes/c5_p001_e024/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3a8fb5cbd4e88d1be51a68836bc46c8419a5a0a9 --- /dev/null +++ b/episodes/c5_p001_e024/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/24", + "fps": 25, + "frames": 1283, + "kept_ticks": "even", + "video_frames": { + "wrist": 1283, + "env": 1283 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e024/scene_snapshot.json b/episodes/c5_p001_e024/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..7f151396ebac93ec253a95bfb6e228bbc0f65d7e --- /dev/null +++ b/episodes/c5_p001_e024/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 24, + "env_id": 0, + "run_id": "c5_p001", + "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_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5098752975463867, + 0.08571529388427734, + 0.8999999761581421 + ], + "ori": [ + 0.7111824154853821, + 0.0, + 0.0, + -0.7030075192451477 + ], + "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": [ + 3.700583676297109e-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": 0.22301291825706693, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.18837867919942206, + "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": 0.22301291825706693, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.03862571716308594, + 0.4474525451660156, + 0.8999999761581421 + ], + "ori": [ + 0.9999313950538635, + 2.6860487878366257e-07, + 4.303495515500799e-08, + 0.01172143779695034 + ], + "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": [ + 3.6348527743257364e-08, + 3.3200956295331707e-07, + -3.390014171600342e-07 + ], + "angular_velocity": [ + -2.0860519725829363e-05, + 3.866829501930624e-06, + -2.3072025214787573e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5359201431274414, + 1.15252685546875, + 0.8999999761581421 + ], + "ori": [ + -0.011570759117603302, + -3.070503851176909e-08, + 3.168955320376199e-09, + 0.9999330639839172 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.3401505439865105e-11, + -1.0988147058910158e-09, + 0.0 + ], + "angular_velocity": [ + 5.0489820324628454e-08, + -1.213346578765595e-08, + -1.7643856153881643e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.320969581604004, + 0.5820646286010742, + 0.8999999761581421 + ], + "ori": [ + -0.89851313829422, + 4.695550970268414e-08, + 5.7528399821649145e-08, + 0.4389466643333435 + ], + "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": [ + 7.596214768312848e-10, + 2.743393845427988e-10, + 0.0 + ], + "angular_velocity": [ + -1.6100772270988273e-08, + 7.972304416625775e-08, + 3.485488342391818e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.531081199645996, + 0.5041437149047852, + 0.8999999761581421 + ], + "ori": [ + 0.9638408422470093, + 2.503897089667362e-09, + 2.8020397113692752e-09, + 0.26647886633872986 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.7999984835981309e-10, + -8.433120868289734e-11, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.5538707032192178e-07, + 7.552710457048306e-08, + 1.4913515755665685e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -0.03489112854003906, + 0.4353504180908203, + 0.9179999828338623 + ], + "ori": [ + 0.9999995827674866, + 7.542599860244081e-07, + 7.812006685981032e-08, + 0.0010034249862655997 + ], + "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": [ + -2.04224443223211e-06, + 3.550061592250131e-06, + -5.628913640975952e-06 + ], + "angular_velocity": [ + -0.00023108403547666967, + -1.3002623745705932e-05, + 1.5364272258011624e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.5364971160888672, + 1.1534957885742188, + 0.9180000424385071 + ], + "ori": [ + -0.04207102581858635, + -3.081238020286037e-08, + 4.576286904978133e-09, + 0.9991146922111511 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.2076502403933773e-08, + 6.370561855817414e-10, + -5.409121513366699e-06 + ], + "angular_velocity": [ + -3.562701920145628e-07, + 1.3814653812005417e-06, + 5.524873358808691e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.3118181228637695, + 0.5823440551757812, + 0.9180000424385071 + ], + "ori": [ + -0.91478431224823, + 4.8299245491989495e-08, + 5.605179964618401e-08, + 0.40394288301467896 + ], + "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": [ + -1.3055961645136449e-08, + 2.6153575305443155e-08, + -5.39049506187439e-06 + ], + "angular_velocity": [ + -3.7261804664012743e-07, + -1.9872070424753474e-06, + 1.3414154409474577e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.5165290832519531, + 0.5092687606811523, + 0.9179999828338623 + ], + "ori": [ + 0.9307317137718201, + 5.388231194558557e-09, + 2.7617246267652718e-09, + 0.3657027781009674 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.709344310540928e-08, + -1.2547246797112166e-07, + -1.4528632164001465e-06 + ], + "angular_velocity": [ + 5.300683369569015e-06, + 8.340496719938528e-07, + 1.312221797888924e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 2.4199999999999706, + "step": 484, + "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": 3.700583676297109e-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": 0.22301291825706693, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 308, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.18862572312355042, + -0.00254744291305542, + 0.0 + ], + "carrier_2": [ + 0.38592013716697693, + 0.702526867389679, + 0.0 + ], + "carrier_3": [ + -1.4709695875644684, + 0.13206464052200317, + 0.0 + ], + "carrier_4": [ + 1.3810811936855316, + 0.05414372682571411, + 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": [ + 0.3701577787181417, + 0.42756636534757786, + 2.7536783220061682 + ], + "ori": [ + 10.948798281126276, + -0.6970253437501412, + -9.466741410584454 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7139.145005107615, + "color": [ + 0.8751533050557556, + 0.8590459901218657, + 0.928381366670344 + ], + "intensity": 10308.053756918549, + "width": 2.263716772686564, + "height": 1.7401142501587328 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.066950131104441, + -0.17615076616815117, + 1.7056044757865545 + ], + "ori": [ + 33.876421987370065, + 7.27551814282738, + -27.774046257202922 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4402.116360530747, + "color": [ + 0.7921938520148626, + 0.8065770932857428, + 0.9219483259471589 + ], + "intensity": 3349.715121064661, + "radius": 0.15779827581748956 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1066.1652409916408, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141027331352234, + -1.7193984985351562, + 2.0904998779296875, + -1.9419007301330566, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + -0.353543221950531, + -2.1182968616485596, + 2.7052416801452637, + -2.157721757888794, + -1.570799469947815, + 4.3265557289123535, + 0.017999984323978424, + 0.018000014126300812 + ], + [ + -0.28527241945266724, + -2.12835431098938, + 2.5720009803771973, + -2.014629364013672, + -1.5711352825164795, + 4.345561981201172, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.06081903725862503, + -2.2185709476470947, + 2.4509310722351074, + -1.8025823831558228, + -1.5709437131881714, + 4.550609111785889, + 0.008021191693842411, + 0.006853378843516111 + ] + ], + "joint_vel": [ + [ + 2.7416160628582253e-38, + 0.0, + 0.0, + -6.739170761428294e-37, + 4.105364156442285e-37, + -3.025606740910423e-37, + 2.5990388508034812e-08, + -2.5990374297180097e-08 + ], + [ + -0.0006845370517112315, + 0.011869890615344048, + 0.011035317555069923, + -0.02234833315014839, + -3.2392704270023387e-06, + -0.0006131966947577894, + -1.6564798670515302e-06, + 1.6565541045565624e-06 + ], + [ + 0.00010204104910371825, + -0.016811013221740723, + -0.018889861181378365, + 0.03470691293478012, + 1.0340861990698613e-05, + 3.983528884532461e-08, + 1.1785398328356678e-06, + -1.1783231457229704e-06 + ], + [ + -0.059016089886426926, + -0.00033592828549444675, + -0.003014327958226204, + -0.005410846322774887, + -0.002501173410564661, + 0.015702877193689346, + -0.008470802567899227, + 0.00014010074664838612 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.049110934138298035, + -0.00021987961372360587, + -0.03296805918216705, + -0.2712527811527252, + 0.6517665386199951, + 0.6499013304710388, + -0.28151482343673706 + ], + [ + 0.05129831284284592, + 0.002000443171709776, + -0.031540390104055405, + -0.27737686038017273, + 0.6557144522666931, + 0.6416224241256714, + -0.2853441834449768 + ], + [ + 0.04967004805803299, + -0.0019285132875666022, + -0.031727395951747894, + -0.2955589294433594, + 0.6401703357696533, + 0.6509582996368408, + -0.2812119126319885 + ], + [ + 0.052081383764743805, + 0.0002595028199721128, + -0.0303941797465086, + -0.2840820252895355, + 0.6437979340553284, + 0.6578208208084106, + -0.2685021162033081 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e024/wrist.mp4 b/episodes/c5_p001_e024/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..72fc5950a1ca12e90ce42d5606b2cb12eb9f440a --- /dev/null +++ b/episodes/c5_p001_e024/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fda74a8f24e91d336d32362bf78d0d82eb71ee9bcdbb5d6dc76cee38d6865e2c +size 7290144 diff --git a/episodes/c5_p001_e025/data.npz b/episodes/c5_p001_e025/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..0ce0510390c0dee0167ce92f5bedddd06d8ca28f --- /dev/null +++ b/episodes/c5_p001_e025/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a033ba23cfcf22032911ea1da6c818afa3a8877967361198317b1ad57e576e0 +size 194256 diff --git a/episodes/c5_p001_e025/device_events.jsonl b/episodes/c5_p001_e025/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..29f6b64badbe03b40719668658de3466aec1803b --- /dev/null +++ b/episodes/c5_p001_e025/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 1, "seq": 1, "step": 158, "t": 0.79, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 158, "t": 0.79, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 163, "t": 0.815, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1992, "t": 9.96, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 2029, "t": 10.145, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 6988, "t": 34.94, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 7, "step": 7596, "t": 37.98, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 7596, "t": 37.98, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.873273552964581}, "cause": "task-1-1"} +{"env_id": 1, "seq": 9, "step": 7596, "t": 37.98, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 7596, "t": 37.98, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 7596, "t": 37.98, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 8015, "t": 40.075, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 13, "step": 8015, "t": 40.075, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 8015, "t": 40.075, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 15, "step": 8015, "t": 40.075, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 16, "step": 8015, "t": 40.075, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 8015, "t": 40.075, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 18, "step": 8015, "t": 40.075, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8015, "t": 40.075, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 8015, "t": 40.075, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.873273552964581}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8990, "t": 44.95, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 22, "step": 8990, "t": 44.95, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.875000000002494}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 8990, "t": 44.95, "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": 4.875000000002494}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 24, "step": 8990, "t": 44.95, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 25, "step": 8990, "t": 44.95, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 8990, "t": 44.95, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 9410, "t": 47.05, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 28, "step": 9410, "t": 47.05, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 9410, "t": 47.05, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 30, "step": 9410, "t": 47.05, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 31, "step": 9410, "t": 47.05, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 32, "step": 9410, "t": 47.05, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 33, "step": 9986, "t": 49.93, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 34, "step": 11760, "t": 58.8, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 11760, "t": 58.8, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 36, "step": 11760, "t": 58.8, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 37, "step": 11760, "t": 58.8, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p001_e025/env.mp4 b/episodes/c5_p001_e025/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9a06fe2d7ad704a4bdc14dd97d309a044063b80a --- /dev/null +++ b/episodes/c5_p001_e025/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:559d8582dcd0aa68e3cb94833694568381f57fde0f1691f20329cf1460e01921 +size 1336317 diff --git a/episodes/c5_p001_e025/meta.json b/episodes/c5_p001_e025/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3c4ff7d680fc9f7668d45110adfe7fae0591e8 --- /dev/null +++ b/episodes/c5_p001_e025/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/25", + "fps": 25, + "frames": 1280, + "kept_ticks": "even", + "video_frames": { + "wrist": 1280, + "env": 1280 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e025/scene_snapshot.json b/episodes/c5_p001_e025/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..ccb69dbf78fdcaf543e9fe57ef21d4e2482460c6 --- /dev/null +++ b/episodes/c5_p001_e025/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 25, + "env_id": 1, + "run_id": "c5_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 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": 0.18337795536757298, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.09014352035614528, + "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": 0.18337795536757298, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6746978759765625, + 1.152714729309082, + 0.8999999761581421 + ], + "ori": [ + -0.009662327356636524, + 4.845624701488305e-08, + 1.8012798363997717e-08, + 0.9999533891677856 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8345925667517804e-08, + 2.413500226339238e-07, + -4.0978193283081055e-08 + ], + "angular_velocity": [ + -7.393032774416497e-06, + -4.772696797772369e-07, + 3.5939256122219376e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6217994689941406, + 1.016763687133789, + 0.8999999761581421 + ], + "ori": [ + 0.43877121806144714, + 3.110326218802584e-08, + -5.5102869822576395e-08, + 0.8985987901687622 + ], + "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": [ + 2.0053649407714147e-08, + 3.1456437454835395e-10, + 8.195638656616211e-08 + ], + "angular_velocity": [ + 2.3354044742518454e-07, + 1.3461769867717521e-06, + -1.0060768573794121e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3326988220214844, + 1.0011377334594727, + 0.8999999761581421 + ], + "ori": [ + -0.4543877840042114, + -2.2017760059611646e-08, + 2.2339572414153963e-09, + 0.8908039927482605 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.973965601034024e-10, + 1.2860260079072816e-10, + 0.0 + ], + "angular_velocity": [ + -1.1643571440345113e-08, + -3.430099582146795e-08, + -1.8953497105123063e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.05992603302001953, + 0.4500255584716797, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.4327423691895547e-09, + 3.226769518249739e-09, + 0.0001974772458197549 + ], + "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": [ + -1.4900285449925832e-09, + -2.3526492753944694e-08, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + 7.598509341733006e-07, + 1.058706367018658e-08, + 6.776744498893095e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.6761341094970703, + 1.1529541015625, + 0.9180000424385071 + ], + "ori": [ + -0.09855606406927109, + -5.801641123071022e-08, + -3.8401395840992336e-07, + 0.9951315522193909 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.0539823708531912e-07, + 6.004573151585646e-06, + -1.0438263416290283e-05 + ], + "angular_velocity": [ + 8.374573371838778e-05, + 4.366319262771867e-05, + -2.2404114133678377e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.6096677780151367, + 1.0180416107177734, + 0.9180000424385071 + ], + "ori": [ + 0.4334307610988617, + -1.6767955912655452e-08, + -2.996611669914273e-07, + 0.9011868834495544 + ], + "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": [ + 1.3088733794575091e-06, + 5.7602028391556814e-06, + -4.205852746963501e-06 + ], + "angular_velocity": [ + -1.0982757885358296e-05, + 7.808062946423888e-06, + -4.783873737324029e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.3293743133544922, + 1.0144643783569336, + 0.9179999828338623 + ], + "ori": [ + -0.4554179608821869, + -2.20175415677204e-08, + 2.587354774874484e-09, + 0.8902778029441833 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5313453616272454e-08, + 6.4544414257738936e-09, + -5.677342414855957e-06 + ], + "angular_velocity": [ + -1.136042783400626e-06, + 2.059064740933536e-07, + -1.0234474245862657e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.05776786804199219, + 0.45905590057373047, + 0.9179999828338623 + ], + "ori": [ + 0.998565673828125, + 8.521636729597049e-09, + 5.733096219984191e-10, + -0.05354093760251999 + ], + "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": [ + -6.383676520727022e-08, + -2.1340527212032612e-07, + 2.682209014892578e-07 + ], + "angular_velocity": [ + 5.061918272986077e-06, + -3.6291310152591905e-06, + -5.235514066725955e-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": 7.8199999999998555, + "step": 1564, + "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": 0.18337795536757298, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1405, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.524697870016098, + 0.702714741230011, + 0.0 + ], + "carrier_2": [ + 1.4717994630336761, + 0.566763699054718, + 0.0 + ], + "carrier_3": [ + -1.4826988279819489, + 0.5511377453804016, + 0.0 + ], + "carrier_4": [ + -0.09007397294044495, + 2.5570392608642578e-05, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.727129080842141, + 0.3728615109926361, + 2.91974021312344 + ], + "ori": [ + 9.663720241877115, + -3.3867320145501516, + -1.5828242130688999 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3946.8531340258583, + "color": [ + 0.9059164347790702, + 0.8828916335972744, + 0.9381680671667627 + ], + "intensity": 12833.78275593698, + "width": 2.1211015398826074, + "height": 1.1585692043296096 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.1904375761997148, + 0.8308785864747741, + 1.9630365175412434 + ], + "ori": [ + -36.79161156258205, + -1.2583616464075078, + -39.84831608498459 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5358.75842443933, + "color": [ + 0.8695983744742359, + 0.8683502680314679, + 0.8898848726217277 + ], + "intensity": 4618.6346273798845, + "radius": 0.13944774085202652 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1066.1652409916408, + "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": [ + [ + 2.800473213195801, + -1.7047250270843506, + 1.7635138034820557, + -1.629562497138977, + -1.5707786083221436, + 4.371138095855713, + 0.007743760012090206, + 0.007038989569991827 + ], + [ + 0.91410231590271, + -1.7193981409072876, + 2.090498924255371, + -1.9419002532958984, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.6463381052017212, + -1.3000869750976562, + 2.2029173374176025, + -2.4740231037139893, + -1.5708104372024536, + 0.05440814793109894, + 0.007687801029533148, + 0.007104490417987108 + ], + [ + 1.0624817609786987, + -1.6436131000518799, + 2.224255323410034, + -2.151120185852051, + -1.5707634687423706, + 5.768652439117432, + 0.008556434884667397, + 0.00671065179631114 + ] + ], + "joint_vel": [ + [ + -0.004348494112491608, + -0.013921533711254597, + 0.011172685772180557, + 0.0019765724427998066, + -0.0010107132839038968, + -0.0020168267656117678, + -0.00869013275951147, + 0.00028822990134358406 + ], + [ + -2.536034648013753e-38, + 1.556128211907759e-38, + 3.8659596566163427e-38, + 5.217223862441425e-37, + -3.9777863569260846e-38, + 4.225789728596571e-37, + 2.5990372520823257e-08, + -2.5990386731677972e-08 + ], + [ + -0.00011098904360551387, + 0.01924433372914791, + 0.00655424315482378, + -0.024827701970934868, + -3.8572008634218946e-05, + -0.001819149823859334, + -0.007262492552399635, + 0.00029563691350631416 + ], + [ + 0.05646951124072075, + 0.02626154199242592, + -0.00957128219306469, + -0.01716027222573757, + 0.0004429591936059296, + 0.050944261252880096, + -0.0026441814843565226, + 0.00017140085401479155 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.049459442496299744, + -0.002881106687709689, + -0.031246665865182877, + -0.2765757143497467, + 0.6551573872566223, + 0.6473026275634766, + -0.27436116337776184 + ], + [ + 0.05120622739195824, + 0.0033351059537380934, + -0.03188049793243408, + -0.27367445826530457, + 0.6558128595352173, + 0.6409732699394226, + -0.29011213779449463 + ], + [ + 0.047437552362680435, + 0.00019850202079396695, + -0.03187389299273491, + -0.29508304595947266, + 0.6395856142044067, + 0.6520357131958008, + -0.2805452048778534 + ], + [ + 0.050581060349941254, + 0.0008259695605374873, + -0.03221680223941803, + -0.285290002822876, + 0.6425365805625916, + 0.6591434478759766, + -0.26699498295783997 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e025/wrist.mp4 b/episodes/c5_p001_e025/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c57e9a5f7a941b680fad5e528bd43cb9751dcded --- /dev/null +++ b/episodes/c5_p001_e025/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68b029ca75429de70b9c2ea2e6b5e8a7bec281077e92c0aadfd6263aef804db3 +size 6629299 diff --git a/episodes/c5_p001_e026/data.npz b/episodes/c5_p001_e026/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..b2298f1af35ee1916ff43b3623520859f4ab7131 --- /dev/null +++ b/episodes/c5_p001_e026/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aed5e92bb0cfe5ba4b945bb8860cebbc037bce95b942cf04e7e8554ec28971f5 +size 201023 diff --git a/episodes/c5_p001_e026/device_events.jsonl b/episodes/c5_p001_e026/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..970e957ea2d04af856d011511507a43c7b935ee9 --- /dev/null +++ b/episodes/c5_p001_e026/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 187, "t": 0.935, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 187, "t": 0.935, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 192, "t": 0.96, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1583, "t": 7.915, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6054, "t": 30.27, "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": 6664, "t": 33.32, "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": 6664, "t": 33.32, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.325242373126197}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6664, "t": 33.32, "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": 6664, "t": 33.32, "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": 6664, "t": 33.32, "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": 7083, "t": 35.415, "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": 7083, "t": 35.415, "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": 7083, "t": 35.415, "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": 7083, "t": 35.415, "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": 7083, "t": 35.415, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7083, "t": 35.415, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7083, "t": 35.415, "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": 7083, "t": 35.415, "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": 7083, "t": 35.415, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.325242373126197}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 7949, "t": 39.745, "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": 7949, "t": 39.745, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.330000000002215}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7949, "t": 39.745, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.330000000002215}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7949, "t": 39.745, "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": 7949, "t": 39.745, "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": 7949, "t": 39.745, "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": 8369, "t": 41.845, "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": 8369, "t": 41.845, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.87892651227051e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8369, "t": 41.845, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.87892651227051e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8369, "t": 41.845, "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": 8369, "t": 41.845, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8369, "t": 41.845, "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": 8951, "t": 44.755, "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": 11236, "t": 56.18, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 11236, "t": 56.18, "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": 11236, "t": 56.18, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 11236, "t": 56.18, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p001_e026/env.mp4 b/episodes/c5_p001_e026/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7b5766b87c944b585ae5dc9352e3b01543bcacdb --- /dev/null +++ b/episodes/c5_p001_e026/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d151c1a9c7e18adeb16b823625dd310612b79929829e03f512c711c127d6c95 +size 1331469 diff --git a/episodes/c5_p001_e026/meta.json b/episodes/c5_p001_e026/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c11dab629725d6af42f773a303275554c8da8e04 --- /dev/null +++ b/episodes/c5_p001_e026/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/26", + "fps": 25, + "frames": 1267, + "kept_ticks": "even", + "video_frames": { + "wrist": 1267, + "env": 1267 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e026/scene_snapshot.json b/episodes/c5_p001_e026/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..32cdf92a30261ec835d968c02e2756b0db91b987 --- /dev/null +++ b/episodes/c5_p001_e026/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 26, + "env_id": 2, + "run_id": "c5_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 7.737581408928662e-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": 0.1932120342141251, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.19178095841043694, + "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": 0.1932120342141251, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.04215717315673828, + 0.4474315643310547, + 0.8999999761581421 + ], + "ori": [ + 0.9999356269836426, + 1.0326927091242055e-09, + 6.412530506594294e-10, + 0.011348458006978035 + ], + "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": [ + 9.54014867105002e-10, + 5.923198598267732e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.9292201614007354e-08, + 8.999163014777878e-08, + -1.200465504780368e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6941604614257812, + 0.8473606109619141, + 0.8999999761581421 + ], + "ori": [ + 0.6608421206474304, + 1.8636541199157364e-09, + 1.7094708937293035e-07, + 0.7505249381065369 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.6332484243395413e-10, + -7.163653004127468e-10, + 0.0 + ], + "angular_velocity": [ + 8.186692213030256e-08, + 1.3859961711659707e-07, + -2.317887393132878e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.03329944610595703, + 1.1509647369384766, + 0.8999999761581421 + ], + "ori": [ + -0.013323894701898098, + 6.398996443834903e-09, + 7.693279790998986e-09, + 0.9999112486839294 + ], + "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": [ + 3.5880609594585167e-10, + -1.4156875671744729e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.0733992300847603e-08, + 3.789643088225603e-08, + 1.6429506644044523e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0115747451782227, + 1.1502761840820312, + 0.8999999761581421 + ], + "ori": [ + 0.0020984371658414602, + 2.158253664674703e-08, + 1.8304707749550175e-09, + 0.9999978542327881 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.6648768464431214e-09, + 2.3959658701500075e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.041410880337935e-07, + -8.958167541095463e-08, + 3.120931779676539e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -0.05342292785644531, + 0.4553689956665039, + 0.9179999828338623 + ], + "ori": [ + 0.9992127418518066, + 1.03259822914481e-09, + 6.47066955572484e-10, + -0.03967290371656418 + ], + "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": [ + -1.1617561135324195e-08, + -9.238807052724951e-09, + 1.4156103134155273e-07 + ], + "angular_velocity": [ + 1.0388441751274513e-06, + -1.8363199387749773e-06, + -3.736871789783436e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.694584846496582, + 0.8407182693481445, + 0.9180000424385071 + ], + "ori": [ + 0.5799638628959656, + 2.1039344488826828e-08, + 1.6855659623615793e-07, + 0.8146423101425171 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.1505010983655666e-08, + -1.4956436089619274e-09, + -5.185604095458984e-06 + ], + "angular_velocity": [ + 1.7227313264811528e-06, + 2.6263262498105178e-06, + -3.7475632552741445e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.03685951232910156, + 1.1480064392089844, + 0.9180000424385071 + ], + "ori": [ + 0.09209136664867401, + 4.972267930725138e-09, + 8.907306003891335e-09, + 0.9957506060600281 + ], + "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": [ + 7.205628982376311e-09, + -4.672323417054258e-09, + -5.520880222320557e-06 + ], + "angular_velocity": [ + -8.488484581903322e-08, + 1.1091123042206164e-06, + 2.4962268696526735e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.0051889419555664, + 1.1498937606811523, + 0.9179999828338623 + ], + "ori": [ + -0.05269734933972359, + 1.8900054854498194e-08, + -2.7474365893453978e-08, + 0.9986105561256409 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.38299527572417e-08, + 1.5645542816855595e-07, + -1.3746321201324463e-06 + ], + "angular_velocity": [ + -1.1055651157221291e-05, + 2.9510370040952694e-06, + 6.378726311595528e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 5.7199999999999, + "step": 1144, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 7.737581408928662e-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": 0.1932120342141251, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 956, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.19215717911720276, + -0.0025684237480163574, + 0.0 + ], + "carrier_2": [ + 1.5441604554653168, + 0.397360622882843, + 0.0 + ], + "carrier_3": [ + -0.11670055985450745, + 0.7009647488594055, + 0.0 + ], + "carrier_4": [ + -1.1615747511386871, + 0.7002761960029602, + 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": [ + -0.035114381645494075, + -0.02296060162740854, + 2.826293513269456 + ], + "ori": [ + -0.19530908616872722, + -0.569685375701404, + 14.178569023205952 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6066.633507853721, + "color": [ + 0.8807357762753615, + 0.9468542795595124, + 0.7925967413914866 + ], + "intensity": 13413.1092426979, + "width": 1.8011277896064364, + "height": 1.8930832355006497 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.8579609873672113, + 0.9385192024350484, + 2.4362735227821117 + ], + "ori": [ + 38.720362547104656, + 33.75998281640682, + -0.15348709799698668 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5140.313895537292, + "color": [ + 0.9386002892481707, + 0.9830293375502246, + 0.9822523089038309 + ], + "intensity": 9573.371374117474, + "radius": 0.40059641659071066 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1066.1652409916408, + "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": [ + [ + -0.1739991307258606, + -1.8693798780441284, + 2.611710786819458, + -2.312784194946289, + -1.570128083229065, + 4.557933330535889, + 0.017999988049268723, + 0.017999988049268723 + ], + [ + 2.5167088508605957, + -2.2448408603668213, + 2.0659666061401367, + -1.3917114734649658, + -1.5709872245788574, + 4.087466716766357, + 0.0077650463208556175, + 0.007250709924846888 + ], + [ + 0.914104700088501, + -1.7193962335586548, + 2.090498685836792, + -1.9419008493423462, + -1.5707999467849731, + 2.4849019050598145, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141020178794861, + -1.719399094581604, + 2.0904996395111084, + -1.941900372505188, + -1.5707999467849731, + 2.484900951385498, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 1.2772370610036887e-06, + 3.4059191875712713e-06, + 6.811929779360071e-06, + -4.544794228455995e-12, + 3.405978986847913e-06, + 4.540517267725974e-13, + 1.5594253000017488e-07, + 1.5594220315051643e-07 + ], + [ + 0.02327660471200943, + 0.027085989713668823, + -0.00864444486796856, + -0.018654463812708855, + -0.0001289455540245399, + 0.023496955633163452, + -0.006419766694307327, + 0.00016713824879843742 + ], + [ + 2.5744019197072736e-38, + -2.625080999708352e-38, + -1.9588134661472315e-38, + -3.407328065656149e-37, + 7.138227829735876e-37, + 2.4430091243583062e-36, + 0.0, + 0.0 + ], + [ + 0.0, + -2.660620451100865e-38, + -1.3937611601449067e-38, + -3.4512591088243634e-37, + 7.1640955751795575e-37, + 2.489597163939533e-36, + 0.0, + 1.1823823493457683e-37 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.051895104348659515, + -0.0014768879627808928, + -0.03177239000797272, + -0.2713490128517151, + 0.6511518955230713, + 0.6512049436569214, + -0.279826819896698 + ], + [ + 0.05331280827522278, + 0.0009009067434817553, + -0.03136250376701355, + -0.2765372693538666, + 0.6520268321037292, + 0.644005537033081, + -0.28921446204185486 + ], + [ + 0.047606825828552246, + -0.0010689488844946027, + -0.03080037795007229, + -0.2887963652610779, + 0.6422454714775085, + 0.6535130739212036, + -0.27755722403526306 + ], + [ + 0.05016684532165527, + 0.0014996917452663183, + -0.030078010633587837, + -0.28305843472480774, + 0.6400259137153625, + 0.6610410213470459, + -0.27068352699279785 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e026/wrist.mp4 b/episodes/c5_p001_e026/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2273bfe97ccbd4e496277cdbefe84a541757a94c --- /dev/null +++ b/episodes/c5_p001_e026/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0610ee066191c9b84295cb08f31533ce993980dfc66fed3fef3f0825661186cc +size 7268432 diff --git a/episodes/c5_p001_e027/data.npz b/episodes/c5_p001_e027/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..101fb50d368b964748dc0693d7e4dde5432092f6 --- /dev/null +++ b/episodes/c5_p001_e027/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d1b198bd9df83351916ecde3820e5be0b86af3121394a461b8a63c620f0643c +size 190483 diff --git a/episodes/c5_p001_e027/device_events.jsonl b/episodes/c5_p001_e027/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..31dd6c99159a30b7175c55a8a795aea5da47c53b --- /dev/null +++ b/episodes/c5_p001_e027/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 3, "seq": 1, "step": 51, "t": 0.255, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 51, "t": 0.255, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 56, "t": 0.28, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 2189, "t": 10.945, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 2309, "t": 11.545, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 6967, "t": 34.835, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 7580, "t": 37.9, "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": 8, "step": 7580, "t": 37.9, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.409612139229184}, "cause": "task-3-1"} +{"env_id": 3, "seq": 9, "step": 7580, "t": 37.9, "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": 10, "step": 7580, "t": 37.9, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7580, "t": 37.9, "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": 12, "step": 7999, "t": 39.995, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 13, "step": 7999, "t": 39.995, "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": 14, "step": 7999, "t": 39.995, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.2999999523162842}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 7999, "t": 39.995, "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": 16, "step": 7999, "t": 39.995, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 7999, "t": 39.995, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 18, "step": 7999, "t": 39.995, "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": 19, "step": 7999, "t": 39.995, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7999, "t": 39.995, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.409612139229184}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8681, "t": 43.405, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 22, "step": 8681, "t": 43.405, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.4100000000017445}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 8681, "t": 43.405, "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": 3.4100000000017445}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 24, "step": 8681, "t": 43.405, "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": 25, "step": 8681, "t": 43.405, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8681, "t": 43.405, "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": 27, "step": 9100, "t": 45.5, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 28, "step": 9100, "t": 45.5, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.946579394513265e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 9100, "t": 45.5, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.946579394513265e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 9100, "t": 45.5, "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": 31, "step": 9100, "t": 45.5, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 32, "step": 9100, "t": 45.5, "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": 33, "step": 9682, "t": 48.41, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 34, "step": 11460, "t": 57.3, "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": 35, "step": 11460, "t": 57.3, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 36, "step": 11460, "t": 57.3, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 37, "step": 11460, "t": 57.3, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p001_e027/env.mp4 b/episodes/c5_p001_e027/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a6e7a613e6e6e31fc6b090c03c5eaae1e4019d8b --- /dev/null +++ b/episodes/c5_p001_e027/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5066dca25428d7de74eeca345173661459422a40687d2a059e9d94be0fef85a8 +size 1261109 diff --git a/episodes/c5_p001_e027/meta.json b/episodes/c5_p001_e027/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9088135287b3e29d9fdff8d19348fddf769487ad --- /dev/null +++ b/episodes/c5_p001_e027/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/27", + "fps": 25, + "frames": 1215, + "kept_ticks": "even", + "video_frames": { + "wrist": 1215, + "env": 1215 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e027/scene_snapshot.json b/episodes/c5_p001_e027/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..86f6d6b9fb2ff61b9c1a8ddec9d1de4d05f52acf --- /dev/null +++ b/episodes/c5_p001_e027/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 27, + "env_id": 3, + "run_id": "c5_p001", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48097991943359375, + 0.1065673828125, + 0.8999999761581421 + ], + "ori": [ + 0.726047158241272, + 0.0, + 0.0, + -0.687644898891449 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 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": 0.28991823189337274, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.13701007104393212, + "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": 0.28991823189337274, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.49874114990234375, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + 3.874877074849792e-05, + 4.992957713945145e-10, + 1.267631832835292e-11, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7583841049884086e-09, + -1.6636311217510524e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 1.0937263539290143e-07, + -1.6551194903513533e-07, + -1.190961285146841e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3989639282226562, + 0.7927064895629883, + 0.8999999761581421 + ], + "ori": [ + -0.711487352848053, + -9.423144575748665e-08, + -3.403096826559704e-08, + 0.7026988863945007 + ], + "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": [ + -9.332578088105947e-08, + 1.4579958573790464e-08, + 5.960464477539063e-08 + ], + "angular_velocity": [ + -8.462032496936445e-08, + -3.5772486626228783e-06, + 7.368032584054163e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6989860534667969, + 0.8088893890380859, + 0.8999999761581421 + ], + "ori": [ + 0.7010496854782104, + -6.046226186384729e-09, + 1.1906546859563605e-09, + 0.7131125330924988 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.043418874109193e-07, + 4.220624916229099e-08, + -5.21540641784668e-08 + ], + "angular_velocity": [ + 4.789580430042406e-07, + -2.42569171859941e-06, + -2.2837270989839453e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.012908935546875, + 0.4499969482421875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.021814132253553e-09, + 1.0810744660583183e-11, + -1.2268495083844755e-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": [ + 2.4576811696874756e-09, + 1.1627002693970212e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + -7.939407709045554e-08, + 2.4391124497924466e-07, + -9.58534496220409e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.4922332763671875, + 1.153421401977539, + 0.9179999828338623 + ], + "ori": [ + 0.0183124803006649, + 1.5831692623535787e-09, + -3.139591031597888e-09, + 0.9998323917388916 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.6254166013141003e-08, + -1.019260675860778e-08, + 1.4528632164001465e-07 + ], + "angular_velocity": [ + -2.5148075621928e-08, + 1.7908082554640714e-06, + 3.327229602945181e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.399637222290039, + 0.792933464050293, + 0.9180000424385071 + ], + "ori": [ + -0.6633176803588867, + 5.55350538888888e-08, + -2.9646071197930723e-07, + 0.7483379244804382 + ], + "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": [ + -2.6028599222627236e-06, + 2.3007091840554494e-06, + -5.893409252166748e-06 + ], + "angular_velocity": [ + -1.7150072380900383e-05, + -1.0816635040100664e-05, + -8.403975698456634e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 1.6975841522216797, + 0.7964277267456055, + 0.9180000424385071 + ], + "ori": [ + 0.6712095141410828, + 4.1820834439931787e-07, + 3.734623987838859e-07, + 0.7412676811218262 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.915426299907267e-06, + 5.00261330671492e-06, + -6.981194019317627e-06 + ], + "angular_velocity": [ + 2.24945142690558e-06, + -0.0001544944680063054, + 1.4814432688581292e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.0238494873046875, + 0.4543943405151367, + 0.9179999828338623 + ], + "ori": [ + 0.9952566623687744, + -1.1888237061441487e-09, + -9.986442783826988e-10, + -0.09728475660085678 + ], + "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": [ + -3.9116528682825447e-08, + -5.102225308917241e-09, + -1.3373792171478271e-06 + ], + "angular_velocity": [ + 4.004222091680276e-07, + -1.9659512418002123e-06, + -1.2977012353587725e-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": 8.839999999999982, + "step": 1768, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.28991823189337274, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1716, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.3487411439418793, + 0.699998676776886, + 0.0 + ], + "carrier_2": [ + -1.5489639341831207, + 0.34270650148391724, + 0.0 + ], + "carrier_3": [ + 1.5489860475063324, + 0.3588894009590149, + 0.0 + ], + "carrier_4": [ + -0.13709107041358948, + -3.039836883544922e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.11535799942451652, + 0.2463211032567051, + 2.827416806217616 + ], + "ori": [ + -6.5399603226117815, + 9.079225849986273, + 1.1378229210198683 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5062.1686025648105, + "color": [ + 0.855497047773843, + 0.9110559230401988, + 0.9395683798751813 + ], + "intensity": 6816.574003260401, + "width": 1.5613415603927125, + "height": 1.4545049227393663 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.12896598353850175, + -0.750571606649128, + 2.2768064240785013 + ], + "ori": [ + 29.80833905235565, + -32.669459437189886, + -0.32123469085438217 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7457.45949609354, + "color": [ + 0.8334634802437773, + 0.8240024841059796, + 0.8696223835779875 + ], + "intensity": 8563.397280884732, + "radius": 0.07030156831966108 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1066.1652409916408, + "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": [ + [ + -0.17399877309799194, + -2.119366407394409, + 2.3028929233551025, + -1.7539788484573364, + -1.570128083229065, + 4.557933330535889, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 2.6146042346954346, + -2.118302822113037, + 2.019486427307129, + -1.4724068641662598, + -1.5715008974075317, + 4.184950828552246, + 0.018000029027462006, + 0.01799996942281723 + ], + [ + 1.0802927017211914, + -1.5504786968231201, + 2.1485185623168945, + -2.1688334941864014, + -1.5707908868789673, + 2.7305071353912354, + 0.007684513460844755, + 0.007080019451677799 + ], + [ + 0.9141027331352234, + -1.7193986177444458, + 2.0904994010925293, + -1.941900372505188, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -1.2772339914590702e-06, + -6.811855655541876e-06, + -6.811918410676299e-06, + -3.4059714835166233e-06, + 3.4059783047268866e-06, + -6.546798693440881e-13, + -2.599024995220134e-08, + 2.599060522356922e-08 + ], + [ + -0.01504025049507618, + -0.023723799735307693, + 0.009795591235160828, + 0.01314097736030817, + -4.396386066218838e-05, + -0.015095452778041363, + -2.173083203160786e-06, + 2.173442680941662e-06 + ], + [ + 9.176763705909252e-05, + -1.0542425116000231e-05, + -0.0002574247191660106, + 6.617949838982895e-05, + 1.2218844858580269e-05, + -5.092794890515506e-05, + -0.007628022227436304, + 0.00026210417854599655 + ], + [ + 2.880941003452799e-38, + -2.8911326471838333e-38, + -1.7361249996502817e-38, + -2.6663934084103134e-37, + 7.590175058865424e-37, + -1.8943003753427684e-37, + 2.5990372520823257e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.050656940788030624, + -0.001525575527921319, + -0.031729307025671005, + -0.2652979791164398, + 0.6545804738998413, + 0.6499178409576416, + -0.28062111139297485 + ], + [ + 0.05149601027369499, + 0.0014669457450509071, + -0.03209194168448448, + -0.2753587067127228, + 0.6548939347267151, + 0.6443682312965393, + -0.2829861044883728 + ], + [ + 0.04954047128558159, + -0.0003557514864951372, + -0.031469203531742096, + -0.28858327865600586, + 0.6407455801963806, + 0.6531209945678711, + -0.28213077783584595 + ], + [ + 0.05320790037512779, + 0.001322138705290854, + -0.031974416226148605, + -0.2834726572036743, + 0.6441594362258911, + 0.657118022441864, + -0.26999586820602417 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e027/wrist.mp4 b/episodes/c5_p001_e027/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9bbfce4c271daeee9f78fe5134a916659cd910d8 --- /dev/null +++ b/episodes/c5_p001_e027/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2aaab896a5b9819a7859a60e89b0f362b5b5d6e265677d02808e22177aba6247 +size 6719949 diff --git a/episodes/c5_p001_e028/data.npz b/episodes/c5_p001_e028/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5f7640ae65bd83ba0d840fc5eb2e2f09ac08dd8e --- /dev/null +++ b/episodes/c5_p001_e028/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24b8d33a6dd981f7ffbd731b625a3085ae240d189143448bf6ef49c0c75a8f5a +size 190453 diff --git a/episodes/c5_p001_e028/device_events.jsonl b/episodes/c5_p001_e028/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34e0026cca85522183b08d06d06caf3983bcd4a5 --- /dev/null +++ b/episodes/c5_p001_e028/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 127, "t": 0.635, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 127, "t": 0.635, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 132, "t": 0.66, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6007, "t": 30.035, "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": 6620, "t": 33.1, "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": 6620, "t": 33.1, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.6379964347422606}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6620, "t": 33.1, "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": 6620, "t": 33.1, "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": 6620, "t": 33.1, "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": 7039, "t": 35.195, "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": 7039, "t": 35.195, "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": 7039, "t": 35.195, "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": 7039, "t": 35.195, "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": 7039, "t": 35.195, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7039, "t": 35.195, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7039, "t": 35.195, "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": 7039, "t": 35.195, "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": 7039, "t": 35.195, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.6379964347422606}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7767, "t": 38.835, "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": 7767, "t": 38.835, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.640000000001862}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7767, "t": 38.835, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.640000000001862}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7767, "t": 38.835, "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": 7767, "t": 38.835, "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": 7767, "t": 38.835, "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": 8187, "t": 40.935, "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": 8187, "t": 40.935, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.3895652123684386e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8187, "t": 40.935, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.3895652123684386e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8187, "t": 40.935, "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": 8187, "t": 40.935, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8187, "t": 40.935, "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": 8767, "t": 43.835, "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": 10472, "t": 52.36, "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": 10472, "t": 52.36, "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": 10472, "t": 52.36, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10472, "t": 52.36, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p001_e028/env.mp4 b/episodes/c5_p001_e028/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0ad29ab849f05fe6f92da47705ad728d85e4a7f5 --- /dev/null +++ b/episodes/c5_p001_e028/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cbeb1e5bde3ddbb9704b151941f250e064e5cf6312da3a1fc4bc7d8e2ef3f3e9 +size 1298105 diff --git a/episodes/c5_p001_e028/meta.json b/episodes/c5_p001_e028/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..46822693283b67dbab0c0aecb10b5f09d4f18563 --- /dev/null +++ b/episodes/c5_p001_e028/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/28", + "fps": 25, + "frames": 1243, + "kept_ticks": "even", + "video_frames": { + "wrist": 1243, + "env": 1243 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e028/scene_snapshot.json b/episodes/c5_p001_e028/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..8558e534aa5f999206dfad899e321ff54655774d --- /dev/null +++ b/episodes/c5_p001_e028/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 28, + "env_id": 0, + "run_id": "c5_p001", + "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_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5098752975463867, + 0.08571529388427734, + 0.8999999761581421 + ], + "ori": [ + 0.7111824154853821, + 0.0, + 0.0, + -0.7030075192451477 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.0277486247343166e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.25501291556043454, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.012093884757462203, + "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": 0.25501291556043454, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.339167594909668, + 0.9919500350952148, + 0.8999999761581421 + ], + "ori": [ + -0.46520212292671204, + -6.6531509190781435e-09, + -5.005773573429906e-09, + 0.885204553604126 + ], + "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": [ + 5.074639042312867e-10, + 7.076041974585223e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -4.485334414994213e-08, + 7.505862953394171e-08, + -1.2226896828337885e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.13750648498535156, + 0.44981861114501953, + 0.8999999761581421 + ], + "ori": [ + 0.9999979138374329, + -3.399658610181433e-10, + -2.076044669507837e-09, + 0.002042150590568781 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.0106585547382565e-11, + 1.742747057775773e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -8.800240891559952e-08, + -9.466153194637172e-09, + 4.552910937150045e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3311195373535156, + 1.1526355743408203, + 0.8999999761581421 + ], + "ori": [ + -0.007670234423130751, + -8.042025378962592e-11, + 1.4317963481502716e-09, + 0.9999706149101257 + ], + "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": [ + -1.7438434030125904e-10, + -9.640535592048138e-11, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.642954572389499e-08, + -1.6979656791704656e-08, + -8.290061970228635e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5238227844238281, + 0.49987030029296875, + 0.8999999761581421 + ], + "ori": [ + 0.9678585529327393, + -8.177269705811341e-08, + 3.922497171515715e-08, + 0.2514951825141907 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.568173714389559e-07, + 6.445223448281467e-07, + -2.678483724594116e-06 + ], + "angular_velocity": [ + -5.972407234366983e-05, + 6.068942093406804e-05, + 1.056585233527585e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -1.3334064483642578, + 0.9815311431884766, + 0.9179999828338623 + ], + "ori": [ + -0.5084733366966248, + -8.392600392426175e-09, + -3.800102454931675e-09, + 0.8610777854919434 + ], + "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": [ + 1.50019729971973e-08, + 4.202467351888117e-08, + 1.0803341865539551e-07 + ], + "angular_velocity": [ + -2.762256372079719e-06, + -3.274660684837727e-07, + 1.3016074262850452e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.13004302978515625, + 0.44304370880126953, + 0.9180000424385071 + ], + "ori": [ + 0.9988645315170288, + -1.0236195224777589e-09, + -2.2487305351148734e-09, + -0.04764152318239212 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5321173663096488e-08, + 2.1235571523448016e-08, + -5.140900611877441e-06 + ], + "angular_velocity": [ + -3.641013961441786e-07, + -1.256879500033392e-06, + 1.1520424436639587e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.3286895751953125, + 1.1484193801879883, + 0.9180000424385071 + ], + "ori": [ + 0.0325741209089756, + -6.046483869148744e-10, + 1.5503491823665172e-09, + 0.9994693994522095 + ], + "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": [ + 1.2580977148957118e-08, + -1.161036489172318e-09, + -5.517154932022095e-06 + ], + "angular_velocity": [ + -4.3444572384032654e-07, + 1.9128349322272697e-06, + 6.580584965831804e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.5298871994018555, + 0.5033178329467773, + 0.9179999828338623 + ], + "ori": [ + 0.951937198638916, + -6.856060252857787e-08, + 2.9267962275980608e-08, + 0.30629315972328186 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.108845592374564e-06, + 2.046888084805687e-06, + -4.194676876068115e-06 + ], + "angular_velocity": [ + -6.002283771522343e-05, + 5.7870907767210156e-05, + 1.2746266975227627e-06 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 2.819999999999962, + "step": 564, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 3.0277486247343166e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.25501291556043454, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 436, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.4891676008701324, + 0.5419500470161438, + 0.0 + ], + "carrier_2": [ + -0.012493520975112915, + -0.00018137693405151367, + 0.0 + ], + "carrier_3": [ + 0.18111953139305115, + 0.7026355862617493, + 0.0 + ], + "carrier_4": [ + 1.3738227784633636, + 0.049870312213897705, + 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": [ + 0.7526206772533474, + -0.02900625357720127, + 3.092452584774487 + ], + "ori": [ + -8.469126703682413, + 14.788749218717694, + -13.608142026981128 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4620.0064928836955, + "color": [ + 0.9170060627656228, + 0.9432448676444617, + 0.9049617735780043 + ], + "intensity": 11360.392153359133, + "width": 1.453709855141263, + "height": 1.8600017675561071 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.2164234497862907, + 0.9329828250833663, + 2.7663104947496278 + ], + "ori": [ + -33.550208500200185, + 5.746101022942568, + -19.891983134598654 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5016.569656641315, + "color": [ + 0.9510941580352834, + 0.8899869048940066, + 0.888377316784273 + ], + "intensity": 4069.258827628851, + "radius": 0.10063048135745725 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1026.338843828048, + "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": [ + [ + 0.9141068458557129, + -1.7193959951400757, + 2.090498685836792, + -1.9419010877609253, + -1.5707999467849731, + 2.4849023818969727, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + -0.4577471613883972, + -2.404788017272949, + 2.390936851501465, + -1.557177186012268, + -1.570987582206726, + 4.216750621795654, + 0.017999988049268723, + 0.018000010401010513 + ], + [ + 0.0022420939058065414, + -2.042778491973877, + 2.596622943878174, + -2.1246023178100586, + -1.5695559978485107, + 4.7414445877075195, + 0.018000002950429916, + 0.01799999549984932 + ], + [ + 2.5052876472473145, + -2.233161449432373, + 2.4209299087524414, + -1.7584869861602783, + -1.5708484649658203, + 4.103176593780518, + 0.007738757878541946, + 0.007219518534839153 + ] + ], + "joint_vel": [ + [ + 5.1089496082568076e-06, + -1.0217828275926877e-05, + 6.811966613895493e-06, + 1.7744586182366628e-12, + 2.322568136078895e-13, + 2.0435871192603372e-05, + 2.5991203855824097e-08, + -2.5990415153387403e-08 + ], + [ + -2.554462071202579e-06, + -6.8118547460471746e-06, + -6.811920684413053e-06, + -3.4059710287692724e-06, + 3.4059787594742374e-06, + -5.058394024828883e-13, + 1.5594302738008992e-07, + -1.5594234525906359e-07 + ], + [ + 0.0001251344510819763, + -0.020293090492486954, + -0.017460891976952553, + 0.036709945648908615, + 8.727840281608223e-07, + -2.0868185401923256e-07, + -1.707485921542684e-06, + 1.7073612070817035e-06 + ], + [ + -0.017351608723402023, + 0.0009481125161983073, + -0.0005638840957544744, + -0.0011411671293899417, + 0.0003209731657989323, + 0.0016014128923416138, + -0.00645323796197772, + 8.157695992849767e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04927145317196846, + -0.000714538327883929, + -0.03312409296631813, + -0.2731476426124573, + 0.6551094055175781, + 0.6454834938049316, + -0.2820870280265808 + ], + [ + 0.053657934069633484, + 0.0029009762220084667, + -0.03131674975156784, + -0.2796013057231903, + 0.6521071791648865, + 0.6428699493408203, + -0.28861314058303833 + ], + [ + 0.05038963630795479, + -0.00023988330212887377, + -0.02988266758620739, + -0.29156193137168884, + 0.6422337293624878, + 0.6514045000076294, + -0.2796420454978943 + ], + [ + 0.0530504547059536, + 0.0007721867295913398, + -0.03334708511829376, + -0.2850576341152191, + 0.640984058380127, + 0.6605305075645447, + -0.26754632592201233 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e028/wrist.mp4 b/episodes/c5_p001_e028/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f8a7266bcd4ef8c942762393946fbeb2e86c03eb --- /dev/null +++ b/episodes/c5_p001_e028/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eee660db9d927bb829aea0305ac1d2e9334208dd6762077168cad51cd15b6e5d +size 7140453 diff --git a/episodes/c5_p001_e029/data.npz b/episodes/c5_p001_e029/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..feff81684f9ce820029d520ade7e7df3c79c0e56 --- /dev/null +++ b/episodes/c5_p001_e029/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee693975db10bd58338e4978d23d243d6bd0dca4a98c67a9795c87af0fae359a +size 185667 diff --git a/episodes/c5_p001_e029/device_events.jsonl b/episodes/c5_p001_e029/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4e74915a7aab98edd5b66fd8bdc3065b8ae00f76 --- /dev/null +++ b/episodes/c5_p001_e029/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 150, "t": 0.75, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 150, "t": 0.75, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 155, "t": 0.775, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6891, "t": 34.455, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7504, "t": 37.52, "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": 7504, "t": 37.52, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.7148852730320296}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7504, "t": 37.52, "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": 7504, "t": 37.52, "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": 7504, "t": 37.52, "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": 7923, "t": 39.615, "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": 7923, "t": 39.615, "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": 7923, "t": 39.615, "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": 7923, "t": 39.615, "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": 7923, "t": 39.615, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7923, "t": 39.615, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7923, "t": 39.615, "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": 7923, "t": 39.615, "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": 7923, "t": 39.615, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.7148852730320296}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8266, "t": 41.33, "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": 8266, "t": 41.33, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.7150000000008774}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8266, "t": 41.33, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.7150000000008774}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8266, "t": 41.33, "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": 8266, "t": 41.33, "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": 8266, "t": 41.33, "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": 8686, "t": 43.43, "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": 8686, "t": 43.43, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8686, "t": 43.43, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8686, "t": 43.43, "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": 8686, "t": 43.43, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8686, "t": 43.43, "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": 9267, "t": 46.335, "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": 10980, "t": 54.9, "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": 10980, "t": 54.9, "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": 10980, "t": 54.9, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10980, "t": 54.9, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p001_e029/env.mp4 b/episodes/c5_p001_e029/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..64a931b24e2547ad40f6e096209ef5008b36e1b9 --- /dev/null +++ b/episodes/c5_p001_e029/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56b84fa6f8127d0fa2b6ca3ff93660be1179441ec3b75e4be89361ff72f482bf +size 1228867 diff --git a/episodes/c5_p001_e029/meta.json b/episodes/c5_p001_e029/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f59ebf6be1a5c87be46a7c35a2b3123e6b90b999 --- /dev/null +++ b/episodes/c5_p001_e029/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/29", + "fps": 25, + "frames": 1157, + "kept_ticks": "even", + "video_frames": { + "wrist": 1157, + "env": 1157 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e029/scene_snapshot.json b/episodes/c5_p001_e029/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..876ad8614d13bad975059ea04a1bb0f12df43486 --- /dev/null +++ b/episodes/c5_p001_e029/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 29, + "env_id": 1, + "run_id": "c5_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 4.373416125774687e-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": 0.2924380731372705, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.024308360113383276, + "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": 0.2924380731372705, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3383464813232422, + 0.9935808181762695, + 0.8999999761581421 + ], + "ori": [ + -0.4610006511211395, + -3.410661264524606e-08, + -3.667458159384296e-08, + 0.8873997926712036 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.4927882808233335e-10, + 3.5424424504881813e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.0808154371488854e-09, + 1.271712335437769e-08, + -1.67721374566554e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.12559127807617188, + 0.44748401641845703, + 0.8999999761581421 + ], + "ori": [ + 0.9999565482139587, + -8.295313880246624e-10, + -9.576834880675733e-10, + 0.009330260567367077 + ], + "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": [ + 8.666470874274523e-10, + 1.9933350525747073e-09, + 0.0 + ], + "angular_velocity": [ + -1.5982027434802148e-07, + 6.334202140578782e-08, + -3.605333809275635e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5329113006591797, + 1.0962753295898438, + 0.8999999761581421 + ], + "ori": [ + 0.279890239238739, + -1.8002058510546703e-08, + -9.434448600131873e-08, + 0.9600321054458618 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1617657946771942e-09, + 3.0645423976238817e-09, + -7.450580596923828e-09 + ], + "angular_velocity": [ + -1.5713158063590527e-07, + 3.842433216050267e-08, + -2.5261442715418525e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.2597942352294922, + 1.1500272750854492, + 0.8999999761581421 + ], + "ori": [ + -0.0005927013116888702, + -3.209259247238805e-10, + 3.14423576064371e-09, + 0.9999998807907104 + ], + "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": [ + -1.810481542463549e-09, + -3.575317819581869e-10, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 9.640709208724729e-08, + -1.9652756577670516e-07, + 1.5659574970072754e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.3338651657104492, + 0.9897975921630859, + 0.9179999828338623 + ], + "ori": [ + -0.5357425808906555, + -3.697709161087914e-08, + -3.4248198943487296e-08, + 0.8443813920021057 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.769585698089941e-09, + 4.38051230844394e-08, + 9.313225746154785e-08 + ], + "angular_velocity": [ + -2.7931444037676556e-06, + -6.668162768619368e-07, + 5.6632629252817424e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.1151266098022461, + 0.43636417388916016, + 0.9180000424385071 + ], + "ori": [ + 0.9950180649757385, + 2.6715921142006493e-11, + -9.658528421496726e-10, + 0.09969554096460342 + ], + "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": [ + -1.5182797241664048e-08, + 1.873467780910687e-08, + -5.025416612625122e-06 + ], + "angular_velocity": [ + -2.879916038978081e-08, + -1.226988842972787e-06, + 1.1028001978274915e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.528268814086914, + 1.085195541381836, + 0.9179999828338623 + ], + "ori": [ + 0.3770407438278198, + -2.0315122029046506e-08, + -1.4255746805247327e-07, + 0.9261967539787292 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.752629259499372e-07, + 1.2334464827290503e-06, + 1.1920928955078125e-07 + ], + "angular_velocity": [ + -6.303180271061137e-06, + 5.710182449547574e-06, + -9.016751391754951e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -0.2551918029785156, + 1.14208984375, + 0.9179999828338623 + ], + "ori": [ + -0.081874780356884, + 1.0448061305012857e-09, + 1.520116588160647e-09, + 0.9966426491737366 + ], + "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": [ + 2.3918184766102968e-08, + 6.16734823211118e-08, + 2.2724270820617676e-07 + ], + "angular_velocity": [ + -3.1897322969598463e-06, + 2.180571755161509e-06, + -8.286628627729442e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 8.75999999999997, + "step": 1752, + "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": 4.373416125774687e-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": 0.2924380731372705, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1601, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.4883464872837067, + 0.5435808300971985, + 0.0 + ], + "carrier_2": [ + -0.024408727884292603, + -0.0025159716606140137, + 0.0 + ], + "carrier_3": [ + 1.3829112946987152, + 0.6462753415107727, + 0.0 + ], + "carrier_4": [ + -0.40979424118995667, + 0.7000272870063782, + 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": [ + -0.5355582068015055, + 0.2651494717302282, + 2.863299667709068 + ], + "ori": [ + -2.6766896437356777, + -9.989177673838391, + -4.921884753284967 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7007.209923135399, + "color": [ + 0.8489047411080973, + 0.8378476269862377, + 0.9699512296876946 + ], + "intensity": 6047.781078516034, + "width": 1.834946228426167, + "height": 1.3840491013953162 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.7172232971677083, + 0.49115271871297383, + 1.6678431980528023 + ], + "ori": [ + 27.602672869186748, + 15.109403915368688, + 17.616662012785497 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4539.6811601627105, + "color": [ + 0.9675718503465398, + 0.7947050212327638, + 0.7703875953335118 + ], + "intensity": 7553.7161132662595, + "radius": 0.21695499200006757 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1026.338843828048, + "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": [ + [ + 1.3863354921340942, + -2.2107529640197754, + 2.4352035522460938, + -1.7952535152435303, + -1.5706716775894165, + 4.233067035675049, + 0.0076811532489955425, + 0.006980885285884142 + ], + [ + 0.9141026735305786, + -1.719398021697998, + 2.0904994010925293, + -1.9419008493423462, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9570485949516296, + -1.2684276103973389, + 2.216315746307373, + -2.5187771320343018, + -1.5701110363006592, + 2.5373005867004395, + 0.017999988049268723, + 0.01799999177455902 + ] + ], + "joint_vel": [ + [ + -0.0732843354344368, + 0.0021218706388026476, + 0.0004901405773125589, + -0.002423862461000681, + -6.12037765677087e-05, + 0.008452803827822208, + -0.008515022695064545, + 1.2855802197009325e-05 + ], + [ + -2.5357784906544744e-38, + 1.55596005609204e-38, + 3.86565221173327e-38, + 5.2166714145348495e-37, + -3.9748537194999456e-38, + 4.427345773472424e-37, + 2.5990372520823257e-08, + -2.5990399166175848e-08 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 5.108948244014755e-06, + 3.4059355584759032e-06, + -9.325304417551195e-12, + -1.840780999851077e-12, + -3.4059787594742374e-06, + -6.811957064201124e-06, + 1.5594720537137619e-07, + 1.0395572758170601e-07 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.050683774054050446, + 0.0005130312056280673, + -0.033695198595523834, + -0.26904618740081787, + 0.6558188796043396, + 0.6481630206108093, + -0.27820926904678345 + ], + [ + 0.05351172387599945, + 0.0012660307111218572, + -0.032201144844293594, + -0.2784764766693115, + 0.6545631885528564, + 0.6412453055381775, + -0.2877538800239563 + ], + [ + 0.04864802956581116, + 0.0005905177094973624, + -0.03302630037069321, + -0.2911911904811859, + 0.6430029273033142, + 0.6507635712623596, + -0.2797529101371765 + ], + [ + 0.050661589950323105, + 0.0013117328053340316, + -0.033260587602853775, + -0.2794129252433777, + 0.6411952972412109, + 0.660431444644928, + -0.27318012714385986 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e029/wrist.mp4 b/episodes/c5_p001_e029/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..68482c595d93993905d73fcdb8ed374d8c8f0e7e --- /dev/null +++ b/episodes/c5_p001_e029/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb5c581654f932e404486e41289a07d8cd1bd328cf7b67ea8f0f07bbf7222f9c +size 6346398 diff --git a/episodes/c5_p001_e030/data.npz b/episodes/c5_p001_e030/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..cb1690951f4c0c0d03fa88784ddb88befd2e8fcf --- /dev/null +++ b/episodes/c5_p001_e030/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2cc8d8b698ac85765e82c677b85202c55883d68a4c786a2e566b90aac2132ffd +size 187965 diff --git a/episodes/c5_p001_e030/device_events.jsonl b/episodes/c5_p001_e030/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d8158bd32e0b122053734f051ecb3e070f46513a --- /dev/null +++ b/episodes/c5_p001_e030/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 196, "t": 0.98, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 196, "t": 0.98, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 201, "t": 1.005, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1334, "t": 6.67, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "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_3"}, "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": 3.2100270849071437}, "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_3.changed", "source": "labware.plate_3", "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_3"}, "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": 3.2100270849071437}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 7762, "t": 38.81, "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": 7762, "t": 38.81, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.2150000000016448}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7762, "t": 38.81, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.2150000000016448}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7762, "t": 38.81, "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": 7762, "t": 38.81, "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": 7762, "t": 38.81, "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": 8182, "t": 40.91, "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": 8182, "t": 40.91, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.2634329133186526e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8182, "t": 40.91, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.2634329133186526e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8182, "t": 40.91, "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": 8182, "t": 40.91, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8182, "t": 40.91, "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": 8763, "t": 43.815, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 10460, "t": 52.3, "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": 10460, "t": 52.3, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 10460, "t": 52.3, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10460, "t": 52.3, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p001_e030/env.mp4 b/episodes/c5_p001_e030/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f33b639242154a1a05654b2468f596bceb6148ee --- /dev/null +++ b/episodes/c5_p001_e030/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:478f363fd857b7c4b5032be773537d5c960f5ad859b0aef1059636ceb115596d +size 1193228 diff --git a/episodes/c5_p001_e030/meta.json b/episodes/c5_p001_e030/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..81aab4944719e8622197e2adcc39f14d98750bc3 --- /dev/null +++ b/episodes/c5_p001_e030/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/30", + "fps": 25, + "frames": 1209, + "kept_ticks": "even", + "video_frames": { + "wrist": 1209, + "env": 1209 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e030/scene_snapshot.json b/episodes/c5_p001_e030/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..12350e05e20820360763a8af71036d4bc59192c1 --- /dev/null +++ b/episodes/c5_p001_e030/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 30, + "env_id": 2, + "run_id": "c5_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.055498116830371e-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": 0.20650964066949937, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.08265974094252262, + "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": 0.20650964066949937, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.33405590057373047, + 1.1526603698730469, + 0.8999999761581421 + ], + "ori": [ + -0.01096526812762022, + -6.790366047226826e-10, + 1.4351838828474683e-08, + 0.9999399185180664 + ], + "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": [ + -9.193922068106986e-09, + -4.3491247936344735e-08, + 4.0978193283081055e-08 + ], + "angular_velocity": [ + 2.871593551390106e-06, + -9.0114667727903e-07, + -2.243234575871611e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.538991928100586, + 1.0920820236206055, + 0.8999999761581421 + ], + "ori": [ + 0.2892707586288452, + -1.2305767427278624e-07, + 3.022965699983615e-08, + 0.9572473168373108 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3781857433059486e-08, + 1.3778731045022141e-08, + 3.3527612686157227e-08 + ], + "angular_velocity": [ + -2.4568726075813174e-07, + 8.604838512837887e-07, + -1.3409255927854247e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.0670928955078125, + 0.4475078582763672, + 0.8999999761581421 + ], + "ori": [ + 0.999932587146759, + 6.66654909053932e-09, + -6.686122766552671e-09, + 0.0116126025095582 + ], + "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": [ + 1.0415648343808925e-09, + 3.158715511375476e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -2.5450736629295534e-08, + 1.077162821161437e-07, + -5.278377290807157e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2622747421264648, + 0.5241584777832031, + 0.8999999761581421 + ], + "ori": [ + -0.9453522562980652, + 1.0522589377615077e-07, + 3.996016317842077e-08, + 0.3260509669780731 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.0109336418272505e-10, + 7.946188151919387e-11, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -6.890445547469426e-08, + 4.329433878069722e-08, + -7.674009872005172e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.32470035552978516, + 1.1610145568847656, + 0.9179999828338623 + ], + "ori": [ + 0.08997361361980438, + -1.856211895301385e-08, + 1.371932398797071e-07, + 0.9959441423416138 + ], + "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": [ + 3.4897198020189535e-07, + -7.300477591343224e-07, + -3.3155083656311035e-07 + ], + "angular_velocity": [ + 1.9863113266183063e-05, + -3.529701416482567e-06, + 6.593262696696911e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.539097785949707, + 1.1057920455932617, + 0.9180000424385071 + ], + "ori": [ + 0.21030305325984955, + -1.820519344164495e-07, + -3.9459834511035297e-07, + 0.9776362776756287 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.0145145046844846e-07, + 7.742947673250455e-06, + -2.421438694000244e-07 + ], + "angular_velocity": [ + -7.172570622060448e-05, + 2.4499975552316755e-05, + -5.0576793000800535e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.06867408752441406, + 0.44962596893310547, + 0.9180000424385071 + ], + "ori": [ + 0.9979849457740784, + 6.010416608859259e-09, + -6.808368979704937e-09, + 0.06345184892416 + ], + "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": [ + 1.0671752370683407e-10, + 3.2138662842129406e-09, + -5.543231964111328e-06 + ], + "angular_velocity": [ + 9.953002972906688e-07, + -1.6604892607574584e-06, + -9.123144195655186e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.2604455947875977, + 0.5360698699951172, + 0.9179999828338623 + ], + "ori": [ + -0.9426738619804382, + 1.0486612467275336e-07, + 4.1001207762292324e-08, + 0.333715558052063 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.667754929712828e-07, + -9.732706729437268e-08, + -1.780688762664795e-06 + ], + "angular_velocity": [ + 4.033544428239111e-06, + -7.411185379169183e-06, + -5.591105534108465e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 4.1599999999999335, + "step": 832, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.055498116830371e-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": 0.20650964066949937, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 635, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.184055894613266, + 0.7026603817939758, + 0.0 + ], + "carrier_2": [ + 1.3889919221401215, + 0.6420820355415344, + 0.0 + ], + "carrier_3": [ + -0.08290711045265198, + -0.0024921298027038574, + 0.0 + ], + "carrier_4": [ + -1.4122747480869293, + 0.07415848970413208, + 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 + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.08451647434587628, + -0.31336730631631504, + 2.675898010306634 + ], + "ori": [ + 0.9154300776876916, + 7.148519209578769, + 1.550333096806746 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5931.051488546715, + "color": [ + 0.9487570839593682, + 0.8875403943807963, + 0.9538908115180356 + ], + "intensity": 11870.319933179879, + "width": 2.389875659032854, + "height": 1.2873153961118127 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.5124191499750395, + -0.10662840919554406, + 2.587719775191953 + ], + "ori": [ + -8.20174439266152, + -38.08361309174069, + -11.899496574167951 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5565.596864390578, + "color": [ + 0.842134978943071, + 0.8205291869623718, + 0.9503827795250283 + ], + "intensity": 9681.092267199872, + "radius": 0.498942250173801 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1026.338843828048, + "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": [ + [ + -0.28779810667037964, + -1.9746811389923096, + 2.664931535720825, + -2.260873556137085, + -1.5702069997787476, + 4.440675735473633, + 0.017999988049268723, + 0.017999988049268723 + ], + [ + 0.8177435994148254, + -1.282548427581787, + 2.017672061920166, + -2.305910110473633, + -1.5708563327789307, + 2.188666820526123, + 0.007655521389096975, + 0.006986070424318314 + ], + [ + 0.9141026735305786, + -1.7193981409072876, + 2.0904996395111084, + -1.9419009685516357, + -1.5707999467849731, + 2.484900951385498, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.914101243019104, + -1.719399094581604, + 2.0904998779296875, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -2.5544727577653248e-06, + -3.247688432406518e-16, + 4.7814793879103704e-15, + 1.0556143022959034e-14, + 3.4059778499795357e-06, + -3.8666777570604827e-13, + 1.5594106628213922e-07, + 1.5594108049299393e-07 + ], + [ + 0.00026280235033482313, + -0.014906635507941246, + -0.008139262907207012, + 0.021641230210661888, + 2.0572260837070644e-05, + -0.00012426887406036258, + -0.008552707731723785, + 0.00023371809220407158 + ], + [ + -2.1968258320008053e-38, + 1.836454886839317e-38, + 0.0, + 7.007649233636232e-37, + -4.7136469684845385e-37, + -7.564870074885015e-37, + -6.187014100725704e-38, + 9.079625958568478e-38 + ], + [ + 5.108947334520053e-06, + -3.1867940903339276e-14, + -5.124046532131027e-14, + -4.305809316951584e-14, + 2.9906764862979926e-14, + 1.0668431199220563e-12, + 2.5990646079776525e-08, + -2.5990148699861493e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05184582993388176, + -0.0004693302034866065, + -0.032768700271844864, + -0.2690843939781189, + 0.6566033959388733, + 0.6456254720687866, + -0.28219375014305115 + ], + [ + 0.05271871015429497, + 0.0016709911869838834, + -0.032089583575725555, + -0.27745431661605835, + 0.6544913053512573, + 0.6423966884613037, + -0.28633326292037964 + ], + [ + 0.047110505402088165, + 0.0012361888075247407, + -0.032708875834941864, + -0.28806185722351074, + 0.6421632766723633, + 0.6513484120368958, + -0.2835347056388855 + ], + [ + 0.054031651467084885, + 3.375767118996009e-05, + -0.0323667973279953, + -0.2859687805175781, + 0.6399821043014526, + 0.6594017148017883, + -0.27172431349754333 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e030/wrist.mp4 b/episodes/c5_p001_e030/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..826acae4c7e95ab2f0b6f3ddb90161fb9c8c92a5 --- /dev/null +++ b/episodes/c5_p001_e030/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7526adf4779f598521f5b18efe6f1c5c8fdb28d2086bea526fe0513e35125791 +size 6833078 diff --git a/episodes/c5_p001_e031/data.npz b/episodes/c5_p001_e031/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..39a34d5e47fb7086f2c6825bc953b39e3560567d --- /dev/null +++ b/episodes/c5_p001_e031/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c3c2670867ab44cb082dc9d566fd72e54e070a710213f16a45d82e569d378e6 +size 190756 diff --git a/episodes/c5_p001_e031/device_events.jsonl b/episodes/c5_p001_e031/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8cd1b0fa80628f2a37f881a0961ee8397708c914 --- /dev/null +++ b/episodes/c5_p001_e031/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 33, "t": 0.165, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 33, "t": 0.165, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 38, "t": 0.19, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6211, "t": 31.055, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6824, "t": 34.12, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 6824, "t": 34.12, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.049040341788001}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6824, "t": 34.12, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 6824, "t": 34.12, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6824, "t": 34.12, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7243, "t": 36.215, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7243, "t": 36.215, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7243, "t": 36.215, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7243, "t": 36.215, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7243, "t": 36.215, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7243, "t": 36.215, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7243, "t": 36.215, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7243, "t": 36.215, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7243, "t": 36.215, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.049040341788001}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7653, "t": 38.265, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7653, "t": 38.265, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.0500000000010488}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7653, "t": 38.265, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.0500000000010488}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7653, "t": 38.265, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 7653, "t": 38.265, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7653, "t": 38.265, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8073, "t": 40.365, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8073, "t": 40.365, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.026796064313885e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8073, "t": 40.365, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.026796064313885e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8073, "t": 40.365, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8073, "t": 40.365, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8073, "t": 40.365, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8654, "t": 43.27, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 10408, "t": 52.04, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 10408, "t": 52.04, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10408, "t": 52.04, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 10408, "t": 52.04, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p001_e031/env.mp4 b/episodes/c5_p001_e031/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..411d386057a9750200139b686324c776092c75c6 --- /dev/null +++ b/episodes/c5_p001_e031/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a7b6e663327fb07b3c8288f68bf2b5e785912acb974ca1ec4558c87ed53d7f5 +size 1258048 diff --git a/episodes/c5_p001_e031/meta.json b/episodes/c5_p001_e031/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3b249da9aea4ceb10872493afe6201f9f56a7cf0 --- /dev/null +++ b/episodes/c5_p001_e031/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/31", + "fps": 25, + "frames": 1224, + "kept_ticks": "even", + "video_frames": { + "wrist": 1224, + "env": 1224 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e031/scene_snapshot.json b/episodes/c5_p001_e031/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..fdaa1a07ff44ff94992f5073cc259b6ce1869180 --- /dev/null +++ b/episodes/c5_p001_e031/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 31, + "env_id": 3, + "run_id": "c5_p001", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48097991943359375, + 0.1065673828125, + 0.8999999761581421 + ], + "ori": [ + 0.726047158241272, + 0.0, + 0.0, + -0.687644898891449 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 4.373415692093818e-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": 0.2951005003378472, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.20509633758796603, + "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": 0.2951005003378472, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.3528642654418945, + 0.45119571685791016, + 0.8999999761581421 + ], + "ori": [ + 0.9997453689575195, + -3.7350627479781906e-08, + 6.516768280562246e-08, + 0.02256900444626808 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.14951967336674e-09, + -3.246119462119168e-08, + -2.9802322387695312e-08 + ], + "angular_velocity": [ + 5.614647307083942e-07, + -3.9202922152981046e-07, + 2.0088539542939543e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.05526542663574219, + 0.4499988555908203, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.1991518888976316e-09, + -2.6849673595563672e-09, + -1.1640048569461214e-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": [ + 1.364266477565934e-10, + 2.0046249105121206e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.0985143578400312e-07, + -8.991658972945515e-09, + -1.3078404137445432e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3986167907714844, + 0.8053293228149414, + 0.8999999761581421 + ], + "ori": [ + -0.6989988684654236, + 9.819484603212913e-08, + 5.606136710412102e-08, + 0.7151228189468384 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.352784964747116e-10, + 1.3323167422640836e-06, + -3.1813979148864746e-06 + ], + "angular_velocity": [ + -0.00011265850480413064, + 5.0166631808679085e-06, + -8.089008360911976e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.35080623626708984, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + -7.513858236052329e-06, + 2.5520963120584383e-10, + -1.7168489963026445e-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": [ + -7.045923844373192e-10, + -1.3144287880351158e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.3639700569001434e-07, + -4.009442022834264e-08, + -1.0348573553642382e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.337569236755371, + 0.4573545455932617, + 0.9180000424385071 + ], + "ori": [ + 0.9981123208999634, + -1.5687975007949717e-07, + 1.0081171097908737e-07, + -0.06141529232263565 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.6669383146327164e-07, + -3.840967110591009e-06, + -1.5906989574432373e-06 + ], + "angular_velocity": [ + 3.363687574164942e-05, + 4.972642273060046e-06, + -1.8568251107353717e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.049945831298828125, + 0.445068359375, + 0.9180000424385071 + ], + "ori": [ + 0.9950428605079651, + -1.3053527148088051e-09, + -3.907508538958382e-09, + 0.09944740682840347 + ], + "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": [ + -2.5734113506814538e-08, + 2.1935552041441042e-08, + -5.383044481277466e-06 + ], + "angular_velocity": [ + -8.147307539729809e-08, + -1.6064473129517864e-06, + 1.6963905125066958e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.4078798294067383, + 0.8058462142944336, + 0.9179999828338623 + ], + "ori": [ + -0.6471748352050781, + 9.172562442927301e-08, + 6.253208084672224e-08, + 0.7623417377471924 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.6700542927501374e-08, + 2.695221382964519e-06, + -7.938593626022339e-06 + ], + "angular_velocity": [ + -0.00011281373008387163, + 4.899763098364929e-06, + -8.061219887167681e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.36142539978027344, + 1.1510038375854492, + 0.9179999828338623 + ], + "ori": [ + 0.01907385140657425, + -1.634917201620567e-09, + 4.4866692583411805e-09, + 0.9998180866241455 + ], + "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": [ + 3.65540309132939e-08, + -7.94917021096353e-09, + -1.0244548320770264e-06 + ], + "angular_velocity": [ + 9.433289704929848e-09, + 1.3960609521745937e-06, + 9.243267840020053e-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": 3.239999999999953, + "step": 648, + "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": 4.373415692093818e-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": 0.2951005003378472, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 614, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.20286425948143, + 0.0011957287788391113, + 0.0 + ], + "carrier_2": [ + -0.20526543259620667, + -1.1324882507324219e-06, + 0.0 + ], + "carrier_3": [ + -1.5486167967319489, + 0.35532933473587036, + 0.0 + ], + "carrier_4": [ + 0.20080623030662537, + 0.7000005841255188, + 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": [ + 0.7072044892350907, + -0.31768683239379386, + 3.0169828170267943 + ], + "ori": [ + 12.468286782140506, + -14.477997288372128, + 29.157906749899446 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5766.915398488491, + "color": [ + 0.8754565802352369, + 0.9807315815741932, + 0.8948361469457177 + ], + "intensity": 10739.025729992598, + "width": 2.5433917445390124, + "height": 1.213212361024819 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.4197203146088362, + -0.7239605742975044, + 2.137869986049564 + ], + "ori": [ + -16.002864109895157, + -11.651862768366268, + 18.121756164685685 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4506.3774167222455, + "color": [ + 0.97640750751279, + 0.7678113150451478, + 0.8819519816749882 + ], + "intensity": 4803.710872666639, + "radius": 0.1866225003608829 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1026.338843828048, + "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": [ + [ + -0.2877963185310364, + -2.153379201889038, + 2.488882303237915, + -1.9061607122421265, + -1.570207118988037, + 4.440675735473633, + 0.01799999177455902, + 0.018000006675720215 + ], + [ + 0.8179882764816284, + -1.376451015472412, + 1.9500514268875122, + -2.144620656967163, + -1.570544958114624, + 2.189113140106201, + 0.008621873334050179, + 0.006392612121999264 + ], + [ + 0.8891743421554565, + -1.3400977849960327, + 2.052107810974121, + -2.2827603816986084, + -1.5707963705062866, + 2.333137273788452, + 0.01800004206597805, + 0.017999956384301186 + ], + [ + 0.9141022562980652, + -1.7193987369537354, + 2.0904998779296875, + -1.941900610923767, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 7.60196489864029e-05, + -0.011997708119452, + -0.01977246068418026, + 0.030817270278930664, + 9.55659106693929e-06, + -1.446881192634919e-08, + 4.2790728116415266e-07, + -4.2780087028404523e-07 + ], + [ + -0.0011383021483197808, + -0.000852090772241354, + -0.0022320584394037724, + -0.0001071077786036767, + -0.0020871032029390335, + -0.0054778954945504665, + -0.0044562495313584805, + 9.613131987862289e-05 + ], + [ + -0.00012919899018015712, + 0.014249623753130436, + 0.008622411638498306, + -0.021575631573796272, + -1.0123439096787479e-05, + -2.0839590433752164e-05, + -6.251413651625626e-06, + 6.252398179640295e-06 + ], + [ + 0.0, + 2.614645810304218e-38, + 2.205392670162455e-38, + 7.218662810003629e-37, + -1.9669078144926802e-37, + -8.259502019337736e-38, + 2.59903654153959e-08, + -2.5990388508034812e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.050226349383592606, + -0.0011464364361017942, + -0.03341333568096161, + -0.2721133232116699, + 0.6532666683197021, + 0.6502780914306641, + -0.27628862857818604 + ], + [ + 0.05466610938310623, + 0.0035356830339878798, + -0.031154533848166466, + -0.27839359641075134, + 0.6529397368431091, + 0.6406592130661011, + -0.2927841246128082 + ], + [ + 0.048618052154779434, + 0.0006518850568681955, + -0.0323605015873909, + -0.29216840863227844, + 0.6424259543418884, + 0.6492775082588196, + -0.2834876477718353 + ], + [ + 0.05052579939365387, + 0.00044601401896215975, + -0.0313790924847126, + -0.28156858682632446, + 0.6455941200256348, + 0.6534186601638794, + -0.27743715047836304 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e031/wrist.mp4 b/episodes/c5_p001_e031/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3a5150b68ac13d59427bb4453c22d46ae158c9ab --- /dev/null +++ b/episodes/c5_p001_e031/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ef88a590c3568b7b377ea226551345cd5fa193ef4983a9c8707c81e568e1ef5 +size 7381868 diff --git a/episodes/c5_p001_e032/data.npz b/episodes/c5_p001_e032/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..4d0b2d47da353abc0e953afc8d9cf602af050d80 --- /dev/null +++ b/episodes/c5_p001_e032/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:542edff7dd839f54ba4ae41b142edca0b69e82b47666bc773e32cbbffd3f328d +size 189659 diff --git a/episodes/c5_p001_e032/device_events.jsonl b/episodes/c5_p001_e032/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a8f5364e4cc373a586f538238c3b01fe8cb3e805 --- /dev/null +++ b/episodes/c5_p001_e032/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 128, "t": 0.64, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 128, "t": 0.64, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 133, "t": 0.665, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6010, "t": 30.05, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6624, "t": 33.12, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 6, "step": 6624, "t": 33.12, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.421184600441157}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6624, "t": 33.12, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 8, "step": 6624, "t": 33.12, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 9, "step": 6624, "t": 33.12, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 10, "step": 7043, "t": 35.215, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 7043, "t": 35.215, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 7043, "t": 35.215, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 7043, "t": 35.215, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7043, "t": 35.215, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7043, "t": 35.215, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7043, "t": 35.215, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 17, "step": 7043, "t": 35.215, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 18, "step": 7043, "t": 35.215, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.421184600441157}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7928, "t": 39.64, "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": 7928, "t": 39.64, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.425000000002264}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7928, "t": 39.64, "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": 4.425000000002264}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7928, "t": 39.64, "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": 7928, "t": 39.64, "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": 7928, "t": 39.64, "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": 8348, "t": 41.74, "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": 8348, "t": 41.74, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.750667693618425e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8348, "t": 41.74, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.750667693618425e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8348, "t": 41.74, "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": 8348, "t": 41.74, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8348, "t": 41.74, "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": 8926, "t": 44.63, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 10636, "t": 53.18, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 33, "step": 10636, "t": 53.18, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 10636, "t": 53.18, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10636, "t": 53.18, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p001_e032/env.mp4 b/episodes/c5_p001_e032/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f876ad6cdc0fe868f60400d128129c4f6206cf88 --- /dev/null +++ b/episodes/c5_p001_e032/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72f955871f6c8615a979bc86cc8fa4174cb96d18f4b360ff2fa66a91d43b0480 +size 1322239 diff --git a/episodes/c5_p001_e032/meta.json b/episodes/c5_p001_e032/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..df0cff405eddf59ddf2897428dd612423777ef26 --- /dev/null +++ b/episodes/c5_p001_e032/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/32", + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e032/scene_snapshot.json b/episodes/c5_p001_e032/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..601169623cac8566666b806d20238975b3b333ff --- /dev/null +++ b/episodes/c5_p001_e032/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 32, + "env_id": 0, + "run_id": "c5_p001", + "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_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5098752975463867, + 0.08571529388427734, + 0.8999999761581421 + ], + "ori": [ + 0.7111824154853821, + 0.0, + 0.0, + -0.7030075192451477 + ], + "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": [ + 3.70058324261624e-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": 0.2904493116545849, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1255677133503457, + "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": 0.2904493116545849, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.02449512481689453, + 0.44744205474853516, + 0.8999999761581421 + ], + "ori": [ + 0.9999351501464844, + -5.013073289816816e-10, + -5.229819688423731e-09, + 0.01139083318412304 + ], + "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": [ + 2.631610485082092e-10, + -3.5934282216487645e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + 3.0459256095127785e-07, + -1.4248612956180295e-07, + 2.3744689769955585e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.048951148986816406, + 1.1499509811401367, + 0.8999999761581421 + ], + "ori": [ + -0.00031176634365692735, + 7.925233802552611e-09, + -2.89825834443036e-08, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.1192803956182615e-08, + 9.997101102499073e-08, + -8.940696716308594e-08 + ], + "angular_velocity": [ + -5.969130143057555e-06, + -1.357744054075738e-06, + -4.294344435606945e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6933479309082031, + 0.8544559478759766, + 0.8999999761581421 + ], + "ori": [ + 0.657118558883667, + -1.6079876985486408e-08, + 9.312022264396091e-09, + 0.7537872791290283 + ], + "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": [ + -8.051512789819526e-10, + -5.169783490188706e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 4.8540755415160675e-08, + -3.104031875977853e-08, + 5.0818877994629474e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0565805435180664, + 1.1484346389770508, + 0.8999999761581421 + ], + "ori": [ + -0.0128727862611413, + 1.2479405064880211e-08, + 3.531859960048678e-08, + 0.9999171495437622 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.520962283369954e-08, + -4.632528032288974e-07, + 3.3527612686157227e-08 + ], + "angular_velocity": [ + 1.0911896424659062e-05, + 1.3888709418097278e-06, + 3.113923412456643e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.02036571502685547, + 0.45111846923828125, + 0.9179999828338623 + ], + "ori": [ + 0.9994889497756958, + -2.8234556914696896e-09, + -5.422438054125678e-09, + 0.03196890279650688 + ], + "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": [ + -5.3948973288697744e-08, + -6.030569466020097e-08, + 2.0489096641540527e-07 + ], + "angular_velocity": [ + 2.0159238829364767e-06, + -3.14421913572005e-06, + 1.8049176730983163e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -0.05500507354736328, + 1.1518754959106445, + 0.9180000424385071 + ], + "ori": [ + -0.08558458089828491, + 3.8699838000866293e-08, + -4.843674332732917e-07, + 0.996330976486206 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.1403687899000943e-06, + 1.8824748622137122e-06, + -6.3963234424591064e-06 + ], + "angular_velocity": [ + 6.154333095764741e-05, + 8.664957022119779e-06, + -4.2261966882506385e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.690805435180664, + 0.866297721862793, + 0.9180000424385071 + ], + "ori": [ + 0.6684497594833374, + -1.7582394207238394e-08, + 9.44042355399688e-09, + 0.7437573075294495 + ], + "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": [ + -1.8453604866408568e-08, + -2.7630520094135136e-08, + -5.867332220077515e-06 + ], + "angular_velocity": [ + 1.516231577625149e-06, + -1.3395066389421117e-07, + 2.3364724199836928e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.067544937133789, + 1.1552352905273438, + 0.9179999828338623 + ], + "ori": [ + -0.09888385236263275, + 4.168049017039266e-09, + 1.0655468258846668e-06, + 0.9950990080833435 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.951196393041755e-06, + -8.185626938939095e-06, + -7.636845111846924e-07 + ], + "angular_velocity": [ + 0.00019041380437556654, + 2.452204716973938e-05, + 4.8152960516745225e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 3.239999999999953, + "step": 648, + "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": 3.70058324261624e-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": 0.2904493116545849, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 519, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.12550488114356995, + -0.0025579333305358887, + 0.0 + ], + "carrier_2": [ + -0.19895115494728088, + 0.6999509930610657, + 0.0 + ], + "carrier_3": [ + 1.5433479249477386, + 0.4044559597969055, + 0.0 + ], + "carrier_4": [ + -1.2065805494785309, + 0.6984346508979797, + 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": [ + 0.08873072172742857, + -0.47717780793132536, + 3.093684021749389 + ], + "ori": [ + 10.565794398455164, + 12.754838455050404, + 29.524403298306687 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4796.143336040808, + "color": [ + 0.9207658007516429, + 0.9953407300134318, + 0.8158102472289019 + ], + "intensity": 4028.7907641694605, + "width": 2.4855110846513635, + "height": 1.6790523446671064 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.4209474677886882, + 1.0869161392613573, + 2.4599045240266464 + ], + "ori": [ + 20.311099095924433, + 35.20040793660658, + -15.102849075577438 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6411.587678889895, + "color": [ + 0.8771876562710538, + 0.9781610948107203, + 0.9738173759079702 + ], + "intensity": 8063.386656872011, + "radius": 0.07325731873816832 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 930.0340926763519, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141025543212891, + -1.7193984985351562, + 2.0905003547668457, + -1.941900372505188, + -1.5707999467849731, + 2.484900951385498, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + -0.22496037185192108, + -2.287625551223755, + 2.4430360794067383, + -1.726455569267273, + -1.5703667402267456, + 4.397990703582764, + 0.017999989911913872, + 0.018000008538365364 + ], + [ + 0.46568548679351807, + -2.215858221054077, + 2.4579710960388184, + -1.8126949071884155, + -1.571151614189148, + 4.570554256439209, + 0.007753162179142237, + 0.007055751979351044 + ], + [ + 2.527252197265625, + -2.153848886489868, + 2.575814723968506, + -1.9930232763290405, + -1.5709149837493896, + 4.098445892333984, + 0.0086923036724329, + 0.00637458823621273 + ] + ], + "joint_vel": [ + [ + 1.702981876405829e-06, + 3.405934876354877e-06, + -1.1008700027959062e-11, + 3.405976485737483e-06, + -2.554441575798594e-13, + 5.341624495155961e-13, + -1.6307030866694744e-14, + 6.481094957586087e-13 + ], + [ + 3.695159830385819e-05, + -0.005668597295880318, + -0.021523505449295044, + 0.026387711986899376, + 9.507765753369313e-06, + 3.780951374210417e-08, + 7.983242653608613e-07, + -7.982330316735897e-07 + ], + [ + -0.07320782542228699, + 0.0012038194108754396, + 0.0008848886936903, + -0.0019285130547359586, + 0.0004248493642080575, + 0.015036744996905327, + -0.00825010146945715, + 7.637718226760626e-05 + ], + [ + -0.0001641109847696498, + -1.5687950508436188e-05, + -1.4234683476388454e-06, + -5.421787136583589e-05, + -0.00041734278784133494, + 0.001120946602895856, + -0.005058282054960728, + 0.00016722522559575737 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05162210017442703, + -0.00030230911215767264, + -0.031877368688583374, + -0.27155131101608276, + 0.6549257636070251, + 0.6468988656997681, + -0.2808094322681427 + ], + [ + 0.05578785389661789, + 0.0030098354909569025, + -0.029792962595820427, + -0.27572181820869446, + 0.6589785218238831, + 0.6406881809234619, + -0.2815021872520447 + ], + [ + 0.04835052415728569, + -0.0005255708238109946, + -0.031125864014029503, + -0.29681384563446045, + 0.6355897784233093, + 0.6531288027763367, + -0.28521907329559326 + ], + [ + 0.052898015826940536, + 0.0006073205731809139, + -0.0314231738448143, + -0.28344595432281494, + 0.6414825916290283, + 0.6588706374168396, + -0.2721175253391266 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e032/wrist.mp4 b/episodes/c5_p001_e032/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bb2358c23bbd939c1eb7a7e96f9911b41f804bfa --- /dev/null +++ b/episodes/c5_p001_e032/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:201b657bee1bc11813296cce1f6fdf92d2f3b8849de280b18a4d907359980e82 +size 7139301 diff --git a/episodes/c5_p001_e033/data.npz b/episodes/c5_p001_e033/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..944623f31e5bb9951f72e41c4fd2e565dcce689d --- /dev/null +++ b/episodes/c5_p001_e033/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ccb78c6cfba32d15a3da7c819a2bdc342b82aa59d3a80ad6601ec5171c65cc02 +size 188275 diff --git a/episodes/c5_p001_e033/device_events.jsonl b/episodes/c5_p001_e033/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..247f56436f56a3a95fb2925459d7d29f807a293c --- /dev/null +++ b/episodes/c5_p001_e033/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 161, "t": 0.805, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 161, "t": 0.805, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 166, "t": 0.83, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 5839, "t": 29.195, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6452, "t": 32.26, "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": 6, "step": 6452, "t": 32.26, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.137745747116953}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6452, "t": 32.26, "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": 8, "step": 6452, "t": 32.26, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6452, "t": 32.26, "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": 10, "step": 6871, "t": 34.355, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 6871, "t": 34.355, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 6871, "t": 34.355, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 6871, "t": 34.355, "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": 14, "step": 6871, "t": 34.355, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 6871, "t": 34.355, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 6871, "t": 34.355, "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": 17, "step": 6871, "t": 34.355, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 6871, "t": 34.355, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.137745747116953}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7299, "t": 36.495, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7299, "t": 36.495, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.140000000001095}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7299, "t": 36.495, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.140000000001095}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7299, "t": 36.495, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 7299, "t": 36.495, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7299, "t": 36.495, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 7719, "t": 38.595, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 7719, "t": 38.595, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 7719, "t": 38.595, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 7719, "t": 38.595, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 7719, "t": 38.595, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 7719, "t": 38.595, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8299, "t": 41.495, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 10004, "t": 50.02, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 10004, "t": 50.02, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10004, "t": 50.02, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 10004, "t": 50.02, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p001_e033/env.mp4 b/episodes/c5_p001_e033/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b32ee82a68633e7d15143c2eb3a2db880a11dfcd --- /dev/null +++ b/episodes/c5_p001_e033/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f5ec9f6ec369f812af145b7ce2b9370a39c022f04470108471e89c1579e2fa0 +size 1311933 diff --git a/episodes/c5_p001_e033/meta.json b/episodes/c5_p001_e033/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..deb1e6d44b7b3b7012f7bc82f9b4ef889ed885a4 --- /dev/null +++ b/episodes/c5_p001_e033/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/33", + "fps": 25, + "frames": 1227, + "kept_ticks": "even", + "video_frames": { + "wrist": 1227, + "env": 1227 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e033/scene_snapshot.json b/episodes/c5_p001_e033/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..8fd4a042e591019990149f0a2fba018a7bd585cd --- /dev/null +++ b/episodes/c5_p001_e033/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 33, + "env_id": 3, + "run_id": "c5_p001", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48097991943359375, + 0.1065673828125, + 0.8999999761581421 + ], + "ori": [ + 0.726047158241272, + 0.0, + 0.0, + -0.687644898891449 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.0092495415781055e-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": 0.17209878041109244, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.0009901470368509635, + "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": 0.17209878041109244, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.009844779968261719, + 1.1499958038330078, + 0.8999999761581421 + ], + "ori": [ + -1.898020491353236e-05, + -1.4747356114064303e-10, + -3.1573452741184838e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.072896464535347e-10, + -1.1090329765650608e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 6.20959639263674e-08, + 4.439391432242701e-08, + -1.8935497614336327e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3959732055664062, + 0.8308620452880859, + 0.8999999761581421 + ], + "ori": [ + -0.6730056405067444, + -3.788318991837514e-08, + 1.5267119124473538e-07, + 0.7396373748779297 + ], + "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": [ + 3.7481057146848684e-10, + -9.84363146550038e-11, + 0.0 + ], + "angular_velocity": [ + 9.444338644470918e-09, + 2.952279309909045e-08, + 5.434435124129777e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.14942169189453125, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.836810592514837e-09, + 9.469898198943838e-10, + -3.8367725210264325e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.288751020986581e-10, + 8.012934760159851e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -8.726667033442936e-08, + -4.366944139633233e-08, + -6.375711958384045e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.637044906616211, + 0.9962453842163086, + 0.8999999761581421 + ], + "ori": [ + 0.46801242232322693, + 9.347455431907292e-08, + -5.5303146950791415e-08, + 0.8837218880653381 + ], + "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": [ + 8.454441591254636e-10, + 2.3904926926832104e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -1.7473165314640937e-07, + -6.070901292787312e-08, + 2.3092560752502322e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.006289482116699219, + 1.161447525024414, + 0.9179999828338623 + ], + "ori": [ + -0.09182672947645187, + 1.985567266160615e-09, + -3.393476166735354e-09, + 0.995775043964386 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.435656736883175e-08, + -1.7426744491899626e-08, + 1.0058283805847168e-07 + ], + "angular_velocity": [ + 3.3519359021738637e-07, + 1.6469010688524577e-06, + 1.8232481124869082e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.4054155349731445, + 0.8205852508544922, + 0.9180000424385071 + ], + "ori": [ + -0.5941334962844849, + -5.325984986370713e-08, + 1.497980974818347e-07, + 0.8043665289878845 + ], + "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": [ + 3.141004256690394e-08, + 1.5175485756913076e-08, + -5.248934030532837e-06 + ], + "angular_velocity": [ + -1.5032325109132216e-06, + 1.9865699414367555e-06, + 1.1102625308012648e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.1576976776123047, + 0.45194339752197266, + 0.9180000424385071 + ], + "ori": [ + 0.995175838470459, + 1.2345896527321543e-09, + 9.193173999832993e-10, + -0.09810797870159149 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.6646309219936484e-08, + 1.55369370702374e-08, + -5.148351192474365e-06 + ], + "angular_velocity": [ + -2.8144398811491556e-07, + -1.3110585541653563e-06, + 9.688305624422355e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.6530303955078125, + 0.9940595626831055, + 0.9179999828338623 + ], + "ori": [ + 0.3847804367542267, + 8.29184259032445e-08, + -5.966862204331846e-08, + 0.9230082035064697 + ], + "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": [ + -6.119877582477784e-08, + -2.091364059708667e-08, + -3.4831464290618896e-06 + ], + "angular_velocity": [ + 1.7590332390682306e-06, + -3.3290707506239414e-06, + 6.791494655544739e-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": 1.1999999999999964, + "step": 240, + "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": 1.0092495415781055e-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": 0.17209878041109244, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 78, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.14015522599220276, + 0.6999958157539368, + 0.0 + ], + "carrier_2": [ + -1.5459732115268707, + 0.3808620572090149, + 0.0 + ], + "carrier_3": [ + -0.0005783140659332275, + 2.682209014892578e-06, + 0.0 + ], + "carrier_4": [ + 1.4870449006557465, + 0.5462453961372375, + 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": [ + -0.31541350678697255, + 0.327344868711151, + 2.7746170334426092 + ], + "ori": [ + -12.091225254763327, + 13.327633602286653, + -17.834672857743083 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6206.58239708772, + "color": [ + 0.8975217148090326, + 0.9947924877509444, + 0.7963861712172173 + ], + "intensity": 7094.595825029426, + "width": 2.0775366741661747, + "height": 1.2154239024195412 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.0978752689929485, + 1.2628119836049605, + 2.5501722008986705 + ], + "ori": [ + -38.67031848284987, + -25.072616944869264, + -35.65599121936721 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3189.3340681791587, + "color": [ + 0.9370098096975833, + 0.8863882511914621, + 0.8655244505636649 + ], + "intensity": 2160.3909772023057, + "radius": 0.14079915093637468 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 930.0340926763519, + "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": [ + [ + -0.058683842420578, + -1.9536120891571045, + 2.586089611053467, + -2.2028894424438477, + -1.571094036102295, + 4.663512706756592, + 0.007734650280326605, + 0.007108921185135841 + ], + [ + 0.9011500477790833, + -1.671873927116394, + 2.0791735649108887, + -1.9780595302581787, + -1.5708004236221313, + 2.48417592048645, + 0.018001120537519455, + 0.017998885363340378 + ], + [ + 0.9141028523445129, + -1.7193974256515503, + 2.09049916267395, + -1.9419008493423462, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -0.0005162390880286694, + 0.02063630521297455, + 0.013836103491485119, + -0.03394342586398125, + -0.0006974659627303481, + 0.0020813019946217537, + -0.007896969094872475, + 0.0002280059561599046 + ], + [ + -0.007256944663822651, + 0.025986002758145332, + -0.005724884569644928, + -0.01883147843182087, + -2.5490566258667968e-05, + -0.0003756667720153928, + 3.72832000721246e-05, + -3.7343550502555445e-05 + ], + [ + 5.108945060783299e-06, + 1.0217847375315614e-05, + -1.3623902304971125e-05, + -3.4059767131111585e-06, + -3.4059783047268866e-06, + 8.95472606655956e-13, + 2.5990438246026315e-08, + -2.5990265939412893e-08 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.050646550953388214, + -0.0010045303497463465, + -0.03125039115548134, + -0.2701577842235565, + 0.6535361409187317, + 0.6464677453041077, + -0.28632989525794983 + ], + [ + 0.05277474597096443, + 0.0033466259483247995, + -0.03321750834584236, + -0.27979880571365356, + 0.6595312356948853, + 0.6357883214950562, + -0.2872357666492462 + ], + [ + 0.0482640415430069, + -0.0005312919965945184, + -0.03236870840191841, + -0.292910635471344, + 0.6386033892631531, + 0.6542618870735168, + -0.279875785112381 + ], + [ + 0.051566172391176224, + -0.00035685396869666874, + -0.03363130986690521, + -0.2828368544578552, + 0.6408519148826599, + 0.6619892716407776, + -0.2666126787662506 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e033/wrist.mp4 b/episodes/c5_p001_e033/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0d1cadceaa2e3ede5e243c53311161080ddf26e1 --- /dev/null +++ b/episodes/c5_p001_e033/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2095ddc195ba0c70e169656b06301f24bb395f25e974a73d6c806822e80cfb51 +size 7578348 diff --git a/episodes/c5_p001_e034/data.npz b/episodes/c5_p001_e034/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..667bc9a497d1b02c750652c62d79d5ccb28caf8a --- /dev/null +++ b/episodes/c5_p001_e034/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c4cd0d1d45053f1c1d2f6136f4d1549455f2d0d9d7d47e981171ffb8a71c3e5 +size 190872 diff --git a/episodes/c5_p001_e034/device_events.jsonl b/episodes/c5_p001_e034/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f7e454f0a8727163b05506d362aa127e604607bc --- /dev/null +++ b/episodes/c5_p001_e034/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 38, "t": 0.19, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 38, "t": 0.19, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 43, "t": 0.215, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 7171, "t": 35.855, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7784, "t": 38.92, "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": 7784, "t": 38.92, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.51764941666363}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7784, "t": 38.92, "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": 7784, "t": 38.92, "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": 7784, "t": 38.92, "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": 8203, "t": 41.015, "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": 8203, "t": 41.015, "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": 8203, "t": 41.015, "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": 8203, "t": 41.015, "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": 8203, "t": 41.015, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 8203, "t": 41.015, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 8203, "t": 41.015, "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": 8203, "t": 41.015, "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": 8203, "t": 41.015, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.51764941666363}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 9107, "t": 45.535, "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": 9107, "t": 45.535, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.520000000002312}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 9107, "t": 45.535, "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": 4.520000000002312}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 9107, "t": 45.535, "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": 9107, "t": 45.535, "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": 9107, "t": 45.535, "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": 9527, "t": 47.635, "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": 9527, "t": 47.635, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.5705275947559585e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 9527, "t": 47.635, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.5705275947559585e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 9527, "t": 47.635, "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": 9527, "t": 47.635, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 9527, "t": 47.635, "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": 10107, "t": 50.535, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 11804, "t": 59.02, "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": 11804, "t": 59.02, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11804, "t": 59.02, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11804, "t": 59.02, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p001_e034/env.mp4 b/episodes/c5_p001_e034/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9434bc41f04f130405e7f836a0ef1d94cd7b446c --- /dev/null +++ b/episodes/c5_p001_e034/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9efa79dc4ff7aa9b703832ede9a8887127c4e42240f4b959b6a1819b89ad2b1c +size 1228752 diff --git a/episodes/c5_p001_e034/meta.json b/episodes/c5_p001_e034/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d797d67eb836c94665aad79bad7fecf00fefc7f1 --- /dev/null +++ b/episodes/c5_p001_e034/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/34", + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e034/scene_snapshot.json b/episodes/c5_p001_e034/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..ce87c7fbd2ec55281687d93b48675e6af04feba4 --- /dev/null +++ b/episodes/c5_p001_e034/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 34, + "env_id": 1, + "run_id": "c5_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 4.7098288810665245e-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": 0.228409755527189, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.06861960410046589, + "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": 0.228409755527189, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.0809946060180664, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.0323140120505059e-09, + -1.309157338091893e-09, + 3.336678855703212e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.7892533555350383e-10, + 1.688588935344626e-09, + 0.0 + ], + "angular_velocity": [ + -1.4434434092436277e-07, + -4.509266204877349e-08, + -3.0709994547351016e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3654289245605469, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + -6.326027505565435e-05, + -4.775991824246262e-10, + 3.3151279499321618e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1643395136928802e-09, + -9.118812926978137e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 2.0035123782236042e-08, + -1.0280406570473133e-07, + -1.9192652800370524e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3973617553710938, + 0.8329010009765625, + 0.8999999761581421 + ], + "ori": [ + -0.6723526120185852, + 7.983852867710084e-08, + 9.213632523596971e-08, + 0.7402310371398926 + ], + "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": [ + 1.0228973224002402e-09, + 7.407420232752315e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -5.246134904268729e-08, + 3.4633856671462127e-08, + 9.128047651074667e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6930952072143555, + 0.7359905242919922, + 0.8999999761581421 + ], + "ori": [ + 0.7706160545349121, + 3.9981710386882696e-08, + -1.7471235125299245e-08, + 0.6372997164726257 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.198069586929364e-11, + -4.081328608407375e-10, + 0.0 + ], + "angular_velocity": [ + 2.3502684243226213e-08, + -6.920609507687914e-08, + -1.3113854002710923e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.08500289916992188, + 0.458343505859375, + 0.9179999828338623 + ], + "ori": [ + 0.9993383884429932, + 4.848942358748332e-10, + -1.0830182584076198e-10, + -0.03636980056762695 + ], + "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": [ + -2.8282283182079482e-08, + -1.2380680480816864e-08, + 9.685754776000977e-08 + ], + "angular_velocity": [ + 5.29307214947039e-07, + -1.7967877283808775e-06, + 6.951488273898576e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.37224388122558594, + 1.155421257019043, + 0.9180000424385071 + ], + "ori": [ + 0.040950708091259, + -1.164383145457748e-09, + 2.647539076860994e-09, + 0.9991611838340759 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.9789405365838775e-09, + -1.7388371631454902e-08, + -5.088746547698975e-06 + ], + "angular_velocity": [ + 3.585350327739434e-08, + 1.5640157471352722e-06, + -4.152389099232323e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.3926925659179688, + 0.8356103897094727, + 0.9179999828338623 + ], + "ori": [ + -0.6095507740974426, + 6.12502475405563e-08, + 1.3067678139577765e-07, + 0.7927471399307251 + ], + "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": [ + 7.361422831309028e-07, + -2.275827455378021e-07, + -6.124377250671387e-06 + ], + "angular_velocity": [ + -3.2836655009305105e-05, + -8.403425454162061e-05, + 7.440268745995127e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.7021923065185547, + 0.725071907043457, + 0.9179999828338623 + ], + "ori": [ + 0.7374421954154968, + 4.5028766493260264e-08, + -1.8624991326987583e-08, + 0.6754103302955627 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.064817732933989e-08, + -5.184048745832115e-08, + 1.6391277313232422e-07 + ], + "angular_velocity": [ + 2.4931368898251094e-06, + -4.784246243616508e-07, + 1.0820617291074086e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 8.719999999999963, + "step": 1744, + "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": 4.7098288810665245e-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": 0.228409755527189, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1705, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.06900539994239807, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_2": [ + 0.2154289186000824, + 0.6999977231025696, + 0.0 + ], + "carrier_3": [ + -1.5473617613315582, + 0.38290101289749146, + 0.0 + ], + "carrier_4": [ + 1.543095201253891, + 0.28599053621292114, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.5431175721883907, + 0.5140563535401097, + 3.191498838287222 + ], + "ori": [ + 3.888402815614892, + -6.850819770496091, + -14.462195922957836 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6699.067533864644, + "color": [ + 0.8466164591558828, + 0.8277355630911379, + 0.9913259803680582 + ], + "intensity": 10336.331896650889, + "width": 2.2632149916990283, + "height": 1.792066460690426 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.050850753106729, + 0.006864785633500237, + 1.719290690328437 + ], + "ori": [ + 4.305211126385785, + 28.409970602702927, + -19.98162732027442 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5930.803494758246, + "color": [ + 0.9026846914482426, + 0.7618847169637754, + 0.868689415083665 + ], + "intensity": 1846.3099551250996, + "radius": 0.07912112840151815 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 930.0340926763519, + "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": [ + [ + -0.05867691710591316, + -2.022416114807129, + 2.5304481983184814, + -2.07869553565979, + -1.5718607902526855, + 4.662887096405029, + 0.00773462513461709, + 0.007109017577022314 + ], + [ + 0.9141027331352234, + -1.7193983793258667, + 2.0905001163482666, + -1.9419009685516357, + -1.5707999467849731, + 2.484900712966919, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.9141009449958801, + -1.7193976640701294, + 2.09049916267395, + -1.941900610923767, + -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": [ + [ + -0.00045871236943639815, + 0.01590535044670105, + 0.015278811566531658, + -0.030657541006803513, + -0.0006998497410677373, + 0.0020832964219152927, + -0.007911053486168385, + 0.00020965145085938275 + ], + [ + 0.0, + 2.611360886444148e-38, + 2.202630430629578e-38, + 7.209598538913113e-37, + -1.9645751570170266e-37, + -8.047162702519211e-38, + -2.5990388508034812e-08, + 2.5990386731677972e-08 + ], + [ + 0.0, + -2.4615399400920885e-38, + -1.6967874689000626e-38, + -3.6136139973165453e-37, + 5.985565899779665e-37, + -2.7013861404043733e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05178573355078697, + -0.0002857178042177111, + -0.03331972286105156, + -0.2731919586658478, + 0.657102644443512, + 0.6440238356590271, + -0.2807411253452301 + ], + [ + 0.05385357886552811, + 0.0009977426379919052, + -0.031405262649059296, + -0.27114343643188477, + 0.6537808179855347, + 0.6446560621261597, + -0.28891250491142273 + ], + [ + 0.05031609162688255, + 0.00010587918950477615, + -0.031292978674173355, + -0.29627248644828796, + 0.6391105055809021, + 0.6515528559684753, + -0.281494677066803 + ], + [ + 0.05208601430058479, + 0.0025290492922067642, + -0.029467903077602386, + -0.28058764338493347, + 0.6421977877616882, + 0.6601463556289673, + -0.2702949047088623 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e034/wrist.mp4 b/episodes/c5_p001_e034/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6164f8b4d4a2912e6ccaab90a1f8c32b47ca6e3a --- /dev/null +++ b/episodes/c5_p001_e034/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eccc775199435f9562af5ecbaa10769483dc5af1a42e0baeeedfc7d9528e7c0a +size 7238036 diff --git a/episodes/c5_p001_e035/data.npz b/episodes/c5_p001_e035/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..0c1b046473bfeffcd2008d2caca324f0c8fc79ce --- /dev/null +++ b/episodes/c5_p001_e035/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f3ab1334cbaa89339cea2121cb753203d5a1d3dcfeea174695654a09dcbccf5 +size 187092 diff --git a/episodes/c5_p001_e035/device_events.jsonl b/episodes/c5_p001_e035/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0c5e982207dae283f27fc5ff5fda08c3f7aa0c63 --- /dev/null +++ b/episodes/c5_p001_e035/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 71, "t": 0.355, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 71, "t": 0.355, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 76, "t": 0.38, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6983, "t": 34.915, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 7596, "t": 37.98, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 6, "step": 7596, "t": 37.98, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.0377654568369334}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7596, "t": 37.98, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 8, "step": 7596, "t": 37.98, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 7596, "t": 37.98, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 8015, "t": 40.075, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 8015, "t": 40.075, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 8015, "t": 40.075, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 8015, "t": 40.075, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 8015, "t": 40.075, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 8015, "t": 40.075, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 8015, "t": 40.075, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 17, "step": 8015, "t": 40.075, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 8015, "t": 40.075, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.0377654568369334}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 8623, "t": 43.115, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 8623, "t": 43.115, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.0400000000015552}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 8623, "t": 43.115, "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": 3.0400000000015552}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8623, "t": 43.115, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 23, "step": 8623, "t": 43.115, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 8623, "t": 43.115, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 9043, "t": 45.215, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 9043, "t": 45.215, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 9043, "t": 45.215, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 9043, "t": 45.215, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 9043, "t": 45.215, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 9043, "t": 45.215, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 9623, "t": 48.115, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 11336, "t": 56.68, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 33, "step": 11336, "t": 56.68, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 11336, "t": 56.68, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 11336, "t": 56.68, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p001_e035/env.mp4 b/episodes/c5_p001_e035/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ca824b76c86ef00e17a7d340ac2ce784bf28aefe --- /dev/null +++ b/episodes/c5_p001_e035/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31734973944087565a526828e60b4b1870628be5b048e503cf55587c2edec901 +size 1210465 diff --git a/episodes/c5_p001_e035/meta.json b/episodes/c5_p001_e035/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3b02c10eb1b35a40be72e4cc05116c60b7e7fece --- /dev/null +++ b/episodes/c5_p001_e035/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/35", + "fps": 25, + "frames": 1203, + "kept_ticks": "even", + "video_frames": { + "wrist": 1203, + "env": 1203 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e035/scene_snapshot.json b/episodes/c5_p001_e035/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..8fe5bcebcfba2825b98b1952b938713f12ce4533 --- /dev/null +++ b/episodes/c5_p001_e035/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 35, + "env_id": 2, + "run_id": "c5_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.027748407893882e-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": 0.2770173160298066, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.05002604576064468, + "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": 0.2770173160298066, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.10033512115478516, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -2.660730968884195e-09, + -4.255236163430709e-10, + -5.260836041998118e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.752479438290379e-10, + -2.302681378907323e-10, + 0.0 + ], + "angular_velocity": [ + 4.497760386357186e-08, + -4.1057091948459856e-08, + -1.1258702858896186e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6558160781860352, + 0.9679012298583984, + 0.8999999761581421 + ], + "ori": [ + 0.5113078951835632, + -1.2250776393329943e-08, + -7.682109393059022e-10, + 0.8593977093696594 + ], + "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": [ + -9.465519035245507e-09, + -5.726860319299476e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + -1.1451862746980623e-07, + -2.010252160289383e-07, + -1.513582787993073e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.38052940368652344, + 1.1499958038330078, + 0.8999999761581421 + ], + "ori": [ + 7.046313839964569e-05, + -1.3142690491463327e-08, + 2.3185384723234392e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.709743623403483e-10, + 4.4363179796391705e-11, + 0.0 + ], + "angular_velocity": [ + 4.8781526373886663e-08, + -1.0340125200514194e-08, + -1.2525833703591616e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3947906494140625, + 0.7588930130004883, + 0.8999999761581421 + ], + "ori": [ + -0.7379416823387146, + -1.096810464673581e-08, + -4.6727020475145764e-08, + 0.6748645305633545 + ], + "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": [ + -5.302022376696414e-09, + -2.6817597031936202e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 1.9397630524053966e-07, + -3.008649684943521e-08, + 6.523910656142107e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.11438846588134766, + 0.4497852325439453, + 0.9179999828338623 + ], + "ori": [ + 0.9986295700073242, + -3.343904264596631e-09, + 1.4387078195454706e-09, + 0.0523359552025795 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.743667775779613e-08, + -7.416103287027909e-10, + 8.940696716308594e-08 + ], + "angular_velocity": [ + 2.0182804405521892e-07, + -1.7037014004017692e-06, + 1.971459653304919e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.6547775268554688, + 0.9652900695800781, + 0.9180000424385071 + ], + "ori": [ + 0.5640832781791687, + -1.0368594871579262e-08, + 9.13535469493354e-10, + 0.8257179856300354 + ], + "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": [ + 8.353006286654363e-09, + -1.6205763841981025e-08, + -5.3085386753082275e-06 + ], + "angular_velocity": [ + 6.712488698212837e-07, + 8.744518709136173e-07, + -1.648579370794323e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.39218902587890625, + 1.1411075592041016, + 0.9180000424385071 + ], + "ori": [ + -0.06888129562139511, + -1.273797689549383e-08, + 1.4425550753927041e-09, + 0.997624933719635 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.854373957310145e-09, + -1.2984211483768604e-09, + -5.297362804412842e-06 + ], + "angular_velocity": [ + -1.1249649105593562e-06, + 1.2772039781339117e-06, + 3.6540658499006895e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.3987388610839844, + 0.7525634765625, + 0.9179999828338623 + ], + "ori": [ + -0.6792468428611755, + -7.236543808630813e-09, + -4.5472383192191046e-08, + 0.7339099049568176 + ], + "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": [ + 9.28643828501663e-09, + 5.4443948016569266e-08, + -1.4491379261016846e-06 + ], + "angular_velocity": [ + -2.8260033104743343e-06, + 5.861382987859542e-07, + 1.4096326594881248e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 8.719999999999963, + "step": 1744, + "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": 3.027748407893882e-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": 0.2770173160298066, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1672, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.04966488480567932, + 7.748603820800781e-07, + 0.0 + ], + "carrier_2": [ + 1.5058160722255707, + 0.5179012417793274, + 0.0 + ], + "carrier_3": [ + 0.23052939772605896, + 0.6999958157539368, + 0.0 + ], + "carrier_4": [ + -1.544790655374527, + 0.30889302492141724, + 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": [ + -0.21681946546186326, + -0.018335128201856454, + 3.090739007141058 + ], + "ori": [ + 9.914282141997756, + 3.347889056424112, + 10.092477123010397 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6974.798307837895, + "color": [ + 0.8241702779057495, + 0.9733224006145232, + 0.8216760334952115 + ], + "intensity": 12502.581747720871, + "width": 2.2536724839956683, + "height": 1.588110917088401 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.2477813709665293, + 0.7761055326392998, + 2.2566924321139257 + ], + "ori": [ + 9.825452437940363, + -11.556475494122466, + 32.50106414228682 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4420.886301388977, + "color": [ + 0.8980509699601522, + 0.9887361975196378, + 0.782004923462554 + ], + "intensity": 3583.1798356783697, + "radius": 0.2599926230475156 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 930.0340926763519, + "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": [ + [ + -0.05868997424840927, + -2.1418373584747314, + 2.311875104904175, + -1.7403696775436401, + -1.5705279111862183, + 4.663983345031738, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.8368967771530151, + -1.4364081621170044, + 2.023012161254883, + -2.1574783325195312, + -1.5708088874816895, + 2.4807116985321045, + 0.00774929067119956, + 0.007478094194084406 + ], + [ + 0.9141104221343994, + -1.719395399093628, + 2.0904977321624756, + -1.9419009685516357, + -1.5707999467849731, + 2.4849040508270264, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 0.7028215527534485, + -1.4009517431259155, + 1.9811519384384155, + -2.151017665863037, + -1.5707621574401855, + 2.470277786254883, + 0.007618105039000511, + 0.00708403717726469 + ] + ], + "joint_vel": [ + [ + -3.1930838417792984e-07, + -6.811853836552473e-06, + -6.811920684413053e-06, + -3.405973984627053e-06, + 6.8119552452117205e-06, + -3.339716741004861e-14, + -2.5991036878281193e-08, + 2.5991562679905655e-08 + ], + [ + 0.0020948557648807764, + 0.00048479330143891275, + 0.000618380552623421, + 0.003247462445870042, + -0.0007590971072204411, + -0.0024635938461869955, + -0.002607970964163542, + 3.987214222433977e-05 + ], + [ + 5.108948244014755e-06, + -4.654233609299209e-14, + -4.550065836259054e-14, + -7.482741910900398e-14, + -3.4059776226058602e-06, + 7.876501642752054e-13, + 5.198048214083428e-08, + -5.198080899049273e-08 + ], + [ + 6.697104981867597e-05, + -3.109112731181085e-05, + 5.108093682792969e-05, + 0.0005693490384146571, + -0.0007102952804416418, + -0.0024917239788919687, + -0.006832194980233908, + 0.00020961908739991486 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05120997130870819, + -8.304305811179802e-05, + -0.03291233256459236, + -0.2631053030490875, + 0.652326226234436, + 0.6533398628234863, + -0.2799876630306244 + ], + [ + 0.056191325187683105, + 0.0014449688605964184, + -0.033068254590034485, + -0.2733312249183655, + 0.6561058759689331, + 0.642731249332428, + -0.2858526110649109 + ], + [ + 0.046764202415943146, + -0.0005921982228755951, + -0.0321672260761261, + -0.29099786281585693, + 0.6434356570243835, + 0.648462176322937, + -0.28426674008369446 + ], + [ + 0.05187367647886276, + 0.0010591696482151747, + -0.032492730766534805, + -0.28174784779548645, + 0.6388842463493347, + 0.6629425287246704, + -0.2700968384742737 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e035/wrist.mp4 b/episodes/c5_p001_e035/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fc5caae66c0ed69318925130cb471e5e0c835fbc --- /dev/null +++ b/episodes/c5_p001_e035/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:215d63ad5d2933138d07b24f17b2d5918c3a3e7b57d3d80738c479c6f706c73b +size 7117298 diff --git a/episodes/c5_p001_e036/data.npz b/episodes/c5_p001_e036/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..bfee86cde92c23c21a65f12057f15e90e30ad220 --- /dev/null +++ b/episodes/c5_p001_e036/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d35bbbb6a61b82ccc43a151cc47cdc6b9342719fcd9a112d85adedf16de5b4e6 +size 193011 diff --git a/episodes/c5_p001_e036/device_events.jsonl b/episodes/c5_p001_e036/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b9f1fa593563f9e18472466b89705d808a0633ce --- /dev/null +++ b/episodes/c5_p001_e036/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 40, "t": 0.2, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 40, "t": 0.2, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 45, "t": 0.225, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6454, "t": 32.27, "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": 7064, "t": 35.32, "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": 7064, "t": 35.32, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.450349400635187}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7064, "t": 35.32, "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": 7064, "t": 35.32, "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": 7064, "t": 35.32, "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": 7483, "t": 37.415, "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": 7483, "t": 37.415, "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": 7483, "t": 37.415, "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": 7483, "t": 37.415, "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": 7483, "t": 37.415, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7483, "t": 37.415, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7483, "t": 37.415, "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": 7483, "t": 37.415, "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": 7483, "t": 37.415, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.450349400635187}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 8374, "t": 41.87, "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": 8374, "t": 41.87, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.455000000002279}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8374, "t": 41.87, "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": 4.455000000002279}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8374, "t": 41.87, "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": 8374, "t": 41.87, "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": 8374, "t": 41.87, "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": 8794, "t": 43.97, "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": 8794, "t": 43.97, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.8387985578627308e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8794, "t": 43.97, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.8387985578627308e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8794, "t": 43.97, "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": 8794, "t": 43.97, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8794, "t": 43.97, "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": 9375, "t": 46.875, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 11136, "t": 55.68, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 33, "step": 11136, "t": 55.68, "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": 11136, "t": 55.68, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 11136, "t": 55.68, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p001_e036/env.mp4 b/episodes/c5_p001_e036/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..596839b71b6b54051bb86e79898c3e45b01a95db --- /dev/null +++ b/episodes/c5_p001_e036/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5037eb0401c8252216e2d673ba55bdbde828afd13e991f25817ae99e203429b9 +size 1317300 diff --git a/episodes/c5_p001_e036/meta.json b/episodes/c5_p001_e036/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0988d79053fc9e582ea453fc1c50ca87c12a1626 --- /dev/null +++ b/episodes/c5_p001_e036/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/36", + "fps": 25, + "frames": 1265, + "kept_ticks": "even", + "video_frames": { + "wrist": 1265, + "env": 1265 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e036/scene_snapshot.json b/episodes/c5_p001_e036/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..89df116dc152f2f400564552f4303438633a4eea --- /dev/null +++ b/episodes/c5_p001_e036/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 36, + "env_id": 0, + "run_id": "c5_p001", + "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_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5098752975463867, + 0.08571529388427734, + 0.8999999761581421 + ], + "ori": [ + 0.7111824154853821, + 0.0, + 0.0, + -0.7030075192451477 + ], + "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": [ + 4.373412656327735e-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": 0.2779365574573408, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.20148620730101252, + "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": 0.2779365574573408, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6942319869995117, + 0.7429466247558594, + 0.8999999761581421 + ], + "ori": [ + 0.7648844718933105, + 8.902492254492245e-08, + -6.45159232703918e-08, + 0.6441674828529358 + ], + "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": [ + 1.394924709074985e-08, + 1.6805143943088297e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 7.829704884443345e-08, + 2.349357828279608e-07, + 1.8599001805341686e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.050807952880859375, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.971080632046096e-09, + -2.0633900144062522e-10, + 7.862093298172113e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.351400324978158e-09, + 8.317135313795632e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -5.72218610273012e-08, + 1.2307704366776306e-07, + -5.862105467713263e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1590757369995117, + 1.129042625427246, + 0.8999999761581421 + ], + "ori": [ + -0.15130925178527832, + 4.426255628686704e-08, + 5.987845241861578e-08, + 0.9884865283966064 + ], + "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": [ + -4.0423350777807343e-10, + -6.432553378843409e-10, + 0.0 + ], + "angular_velocity": [ + 6.480934899855129e-08, + -3.582941943136575e-08, + 4.490487981456681e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.04025554656982422, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + 4.3434447434265167e-05, + 8.355984348895618e-09, + 2.8732525247932017e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.9569394993368405e-09, + -1.2516683245422655e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -1.9223875824536663e-09, + -1.7515451133931492e-07, + -3.62565515388269e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.6817760467529297, + 0.7340850830078125, + 0.9179999828338623 + ], + "ori": [ + 0.7880464792251587, + 6.948362596403967e-08, + -8.528581219025e-08, + 0.6156156659126282 + ], + "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": [ + 7.562489372503478e-07, + -6.00457497057505e-08, + -1.6205012798309326e-06 + ], + "angular_velocity": [ + -9.658077942731325e-06, + -2.6231933588860556e-05, + -6.285967174335383e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -0.05357646942138672, + 0.44517993927001953, + 0.9180000424385071 + ], + "ori": [ + 0.9999245405197144, + 3.344005072847267e-10, + -9.812857193480795e-10, + 0.012287543155252934 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.58445767196281e-09, + 2.1047910081506416e-08, + -5.185604095458984e-06 + ], + "angular_velocity": [ + -7.640096555405762e-07, + -2.312458946107654e-06, + -3.360742795166516e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.1714258193969727, + 1.130385398864746, + 0.9180000424385071 + ], + "ori": [ + -0.18467484414577484, + 4.570232192691037e-08, + 5.940110270330479e-08, + 0.9827997088432312 + ], + "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": [ + 2.7519607925796663e-08, + -4.343223558578302e-09, + -5.7220458984375e-06 + ], + "angular_velocity": [ + -4.789384320247336e-07, + 1.611380753274716e-06, + 1.708471160100089e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.05037117004394531, + 1.1525373458862305, + 0.9179999828338623 + ], + "ori": [ + -0.07301047444343567, + 8.064545475860996e-09, + 3.777622659129065e-09, + 0.9973312020301819 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1871260419127339e-08, + 7.668054635701083e-09, + -1.1548399925231934e-06 + ], + "angular_velocity": [ + -1.4139078530206461e-06, + 1.59236242325278e-06, + -1.1751314588082096e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 5.2399999999999105, + "step": 1048, + "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": 4.373412656327735e-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": 0.2779365574573408, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1007, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5442319810390472, + 0.29294663667678833, + 0.0 + ], + "carrier_2": [ + -0.20080795884132385, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_3": [ + -1.3090757429599762, + 0.679042637348175, + 0.0 + ], + "carrier_4": [ + -0.10974445939064026, + 0.6999996304512024, + 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": [ + -0.33608394382409607, + 0.46007372322502726, + 3.138819401788253 + ], + "ori": [ + -8.128824934882424, + -8.08835972076452, + 22.194316344648904 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4361.093092490981, + "color": [ + 0.8709041232536381, + 0.830008140715647, + 0.7807623247640251 + ], + "intensity": 8672.579341053639, + "width": 2.2500318516483278, + "height": 1.625969976986879 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.04659457202721784, + -0.2044410716397812, + 2.234747477227556 + ], + "ori": [ + 28.588202910798145, + 10.998794331768522, + -8.415156414631227 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6422.508327512827, + "color": [ + 0.9358295709124114, + 0.7593765221188206, + 0.916595830707164 + ], + "intensity": 3580.5960189188536, + "radius": 0.1761270480493186 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1219.0874068319254, + "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": [ + [ + 0.9141026735305786, + -1.7193982601165771, + 2.0905001163482666, + -1.9419012069702148, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + -0.12057901918888092, + -1.944063425064087, + 2.650291681289673, + -2.2774782180786133, + -1.5712378025054932, + 4.643526077270508, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 2.059044122695923, + -2.2304720878601074, + 2.4294393062591553, + -1.7690181732177734, + -1.5707231760025024, + 4.167419910430908, + 0.008888715878129005, + 0.006071817595511675 + ], + [ + -0.22978425025939941, + -2.0970194339752197, + 2.7123000621795654, + -2.1860837936401367, + -1.5699199438095093, + 4.39600133895874, + 0.01799989491701126, + 0.017999887466430664 + ] + ], + "joint_vel": [ + [ + 2.24383322976566e-38, + 0.0, + 1.6554385143341516e-38, + -5.065806500826868e-37, + 3.864743946120633e-37, + -2.737574662035174e-37, + 2.5990374297180097e-08, + -2.599039738981901e-08 + ], + [ + 1.7848067727754824e-05, + -0.002386241452768445, + -0.0013594537740573287, + 0.0036262294743210077, + 1.7613469083244127e-07, + -1.9533139550276246e-08, + -1.3618117122859985e-07, + 1.3618725347441796e-07 + ], + [ + -0.07385653257369995, + -0.00016340857837349176, + -0.004402541555464268, + -0.00422360934317112, + -0.004332503769546747, + 0.02190157026052475, + -0.00725189596414566, + 0.00024098002177197486 + ], + [ + -1.2770013881890918e-06, + 4.4603511856200484e-11, + -6.811847924836911e-06, + -6.811903404013719e-06, + -3.405809820833383e-06, + 1.3623854101751931e-05, + 1.5653032505724696e-06, + 1.670629558248038e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05350402370095253, + 0.0005316528840921819, + -0.033629290759563446, + -0.2661431133747101, + 0.657448410987854, + 0.6471339464187622, + -0.2795480787754059 + ], + [ + 0.05277327448129654, + 0.001485056011006236, + -0.03368305414915085, + -0.27795904874801636, + 0.6559906005859375, + 0.6421343088150024, + -0.2829815745353699 + ], + [ + 0.04783369228243828, + 0.0006746734143234789, + -0.028705662116408348, + -0.2946840822696686, + 0.6376101970672607, + 0.6549814343452454, + -0.278592586517334 + ], + [ + 0.05128573626279831, + 0.00036668224493041635, + -0.032134559005498886, + -0.2821856141090393, + 0.6422274112701416, + 0.6588180661201477, + -0.2717977464199066 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e036/wrist.mp4 b/episodes/c5_p001_e036/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e7986c429eb3744c40886c4e088cfc9acc010c47 --- /dev/null +++ b/episodes/c5_p001_e036/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:159680299bac372f8f59dc7129238f899bf4179246c6420d5d0e1753f0946b38 +size 7027769 diff --git a/episodes/c5_p001_e037/data.npz b/episodes/c5_p001_e037/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5fefa6e263fabd048530ff18501465a3b7911463 --- /dev/null +++ b/episodes/c5_p001_e037/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4f52ffd9f8a7c52b8ed70a3a4755f520294d5be34616b38aa5f6cb2e1282f23 +size 201427 diff --git a/episodes/c5_p001_e037/device_events.jsonl b/episodes/c5_p001_e037/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..783de17acbbc31528b46a23cd9e4e8c6ec2bf97f --- /dev/null +++ b/episodes/c5_p001_e037/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 3, "seq": 1, "step": 161, "t": 0.805, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 161, "t": 0.805, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 166, "t": 0.83, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 894, "t": 4.47, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 1088, "t": 5.44, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 5626, "t": 28.13, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 6240, "t": 31.2, "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": 8, "step": 6240, "t": 31.2, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.99141339355661}, "cause": "task-3-1"} +{"env_id": 3, "seq": 9, "step": 6240, "t": 31.2, "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": 10, "step": 6240, "t": 31.2, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 6240, "t": 31.2, "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": 12, "step": 6659, "t": 33.295, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 13, "step": 6659, "t": 33.295, "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": 14, "step": 6659, "t": 33.295, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 6659, "t": 33.295, "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": 16, "step": 6659, "t": 33.295, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 6659, "t": 33.295, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 18, "step": 6659, "t": 33.295, "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": 19, "step": 6659, "t": 33.295, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 6659, "t": 33.295, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.99141339355661}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7658, "t": 38.29, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 22, "step": 7658, "t": 38.29, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.995000000002555}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 7658, "t": 38.29, "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": 4.995000000002555}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 24, "step": 7658, "t": 38.29, "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": 25, "step": 7658, "t": 38.29, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 7658, "t": 38.29, "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": 27, "step": 8078, "t": 40.39, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 28, "step": 8078, "t": 40.39, "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": 29, "step": 8078, "t": 40.39, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 8078, "t": 40.39, "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": 31, "step": 8078, "t": 40.39, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 32, "step": 8078, "t": 40.39, "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": 33, "step": 8660, "t": 43.3, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 34, "step": 10928, "t": 54.64, "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": 35, "step": 10928, "t": 54.64, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 36, "step": 10928, "t": 54.64, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 37, "step": 10928, "t": 54.64, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p001_e037/env.mp4 b/episodes/c5_p001_e037/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..55d0ce3730def09fee40392bf3d685fe35f1e8a3 --- /dev/null +++ b/episodes/c5_p001_e037/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:946d66d35775abac8d668ee72dd3b5af28cce1a209039841a2b2f0c1d2957ee7 +size 1422766 diff --git a/episodes/c5_p001_e037/meta.json b/episodes/c5_p001_e037/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..33be265375950c9f893259d768560a59ff80e604 --- /dev/null +++ b/episodes/c5_p001_e037/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/37", + "fps": 25, + "frames": 1310, + "kept_ticks": "even", + "video_frames": { + "wrist": 1310, + "env": 1310 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e037/scene_snapshot.json b/episodes/c5_p001_e037/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..982bc88ea6e780be8f74363da889aa9b72fa28be --- /dev/null +++ b/episodes/c5_p001_e037/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 37, + "env_id": 3, + "run_id": "c5_p001", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48097991943359375, + 0.1065673828125, + 0.8999999761581421 + ], + "ori": [ + 0.726047158241272, + 0.0, + 0.0, + -0.687644898891449 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.36416468684278e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.23396876460616792, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.15778309727866877, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.23396876460616792, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4176998138427734, + 0.4601736068725586, + 0.8999999761581421 + ], + "ori": [ + 0.9960005283355713, + -1.3958531042135292e-07, + 1.9632130943136872e-07, + 0.08934738487005234 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.122661951238115e-08, + -1.6126956836615136e-07, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 3.5754706004809123e-06, + 3.133994823656394e-07, + 1.0976043540722458e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.13676929473876953, + 1.1525278091430664, + 0.8999999761581421 + ], + "ori": [ + -0.010861529037356377, + -6.97736766142043e-08, + 5.73504159717686e-08, + 0.9999411106109619 + ], + "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": [ + 4.352190785539278e-08, + -5.098248720969423e-07, + 1.1175870895385742e-07 + ], + "angular_velocity": [ + 1.4743692190677393e-05, + 2.189560518672806e-06, + -1.7650148720349534e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.008141517639160156, + 0.44721317291259766, + 0.8999999761581421 + ], + "ori": [ + 0.9999722838401794, + 2.930012144020111e-08, + -2.725106806877875e-09, + 0.007450843695551157 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.61460984979567e-08, + 3.3149990485981107e-07, + 8.568167686462402e-08 + ], + "angular_velocity": [ + -1.0189990462095011e-05, + -3.5285316357658303e-07, + 3.2980101423163433e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0438013076782227, + 1.149277687072754, + 0.8999999761581421 + ], + "ori": [ + -0.007064783480018377, + -4.610137604998954e-09, + -1.5421741661469923e-09, + 0.9999751448631287 + ], + "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": [ + -1.4275736148761098e-09, + 3.828667161087651e-09, + 0.0 + ], + "angular_velocity": [ + -4.816530108087136e-08, + -1.1323643889227242e-07, + -2.446255820132137e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.4184722900390625, + 0.4497413635253906, + 0.9180000424385071 + ], + "ori": [ + 0.9826400876045227, + -6.41761971564847e-07, + 2.2394115717361274e-07, + 0.18552222847938538 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4280469713412458e-06, + -4.736978553410154e-06, + -2.60770320892334e-06 + ], + "angular_velocity": [ + 0.00012387636525090784, + 3.220768121536821e-05, + -2.0949302779627033e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.13645172119140625, + 1.1507530212402344, + 0.9180000424385071 + ], + "ori": [ + -0.016485534608364105, + -1.9258345673733857e-07, + 5.191963623474294e-07, + 0.9998641610145569 + ], + "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": [ + 3.973123057221528e-06, + -9.529312592349015e-07, + -1.210719347000122e-06 + ], + "angular_velocity": [ + 9.16933931875974e-05, + 1.7082549675251357e-05, + 3.6031793570145965e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.33514404296875e-05, + 0.44499683380126953, + 0.9180000424385071 + ], + "ori": [ + 0.9993222951889038, + 3.6465138464336633e-07, + -5.241408018719085e-08, + 0.03681125491857529 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.6006866871975944e-06, + 6.218588623596588e-06, + -4.857778549194336e-06 + ], + "angular_velocity": [ + 2.4974433472380042e-05, + 1.3471204511006363e-05, + 5.166549817658961e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.0478153228759766, + 1.1414318084716797, + 0.9179999828338623 + ], + "ori": [ + 0.05345393344759941, + -8.521208183509543e-10, + -4.229793404419979e-09, + 0.9985703825950623 + ], + "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": [ + 8.105789106593875e-08, + 1.1322494231080782e-07, + -1.4379620552062988e-06 + ], + "angular_velocity": [ + -4.773940418090206e-06, + 4.248621735314373e-06, + 1.8811563506915263e-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": 2.4199999999999706, + "step": 484, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 3.36416468684278e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.23396876460616792, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 322, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.267699807882309, + 0.010173618793487549, + 0.0 + ], + "carrier_2": [ + -0.013230711221694946, + 0.7025278210639954, + 0.0 + ], + "carrier_3": [ + -0.15814152359962463, + -0.0027868151664733887, + 0.0 + ], + "carrier_4": [ + -1.1938013136386871, + 0.6992776989936829, + 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": [ + -0.07264636748740061, + 0.3836478635688817, + 3.1044977387051347 + ], + "ori": [ + -0.574481073556024, + -7.314041558024425, + 15.65480374943445 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4458.954974131039, + "color": [ + 0.8375368611802135, + 0.9179350131349241, + 0.8432166486068721 + ], + "intensity": 5153.8606412733225, + "width": 1.5603699642001678, + "height": 1.0923103644223175 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.0373229859258788, + -0.8384256692243464, + 2.3602784212686316 + ], + "ori": [ + 6.829597586665528, + -39.75132237471303, + 13.845545637953421 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4599.44483401664, + "color": [ + 0.8105397180439122, + 0.8036435923159222, + 0.8171015089987549 + ], + "intensity": 7998.612888303927, + "radius": 0.1906894727764193 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1219.0874068319254, + "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": [ + [ + 2.5203120708465576, + -2.253896474838257, + 2.2527451515197754, + -1.569604516029358, + -1.5707951784133911, + 4.0911173820495605, + 0.0076532065868377686, + 0.0070419395342469215 + ], + [ + 0.9141006469726562, + -1.719398021697998, + 2.0904994010925293, + -1.9419004917144775, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.3594417572021484, + -1.308353304862976, + 2.2766525745391846, + -2.538712978363037, + -1.5713411569595337, + 6.074357032775879, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 0.9141026735305786, + -1.7193981409072876, + 2.0904994010925293, + -1.941900372505188, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -0.00017752245184965432, + -5.9455876908032224e-05, + -0.0003383283910807222, + -0.00021042015578132123, + -0.0005693750572390854, + 0.0014543283032253385, + -0.007824513129889965, + 0.00024749775184318423 + ], + [ + 0.0, + -2.684201781918216e-38, + -1.506988318139895e-38, + -2.393014203109062e-37, + 2.3824389959623726e-37, + 3.6112282026031245e-37, + -2.6631766997594865e-38, + -3.324469623772254e-38 + ], + [ + -3.4059653444273863e-06, + 3.4059173685818678e-06, + 6.811931598349474e-06, + -3.640344969912945e-12, + -3.405977395232185e-06, + -8.025479694868942e-13, + 1.819339559006039e-07, + 1.8193370010521903e-07 + ], + [ + -2.7263923563418005e-38, + 3.012886986593931e-38, + 2.960459086109375e-38, + 3.345489773360389e-37, + -7.0608743608431114e-37, + 2.475240603333608e-37, + 2.5990388508034812e-08, + -2.599039206074849e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05253704637289047, + 5.298524411045946e-05, + -0.03280721232295036, + -0.2676088809967041, + 0.6582901477813721, + 0.6446197032928467, + -0.2819663882255554 + ], + [ + 0.05411415547132492, + 0.003993520513176918, + -0.031587135046720505, + -0.2785392999649048, + 0.6589450836181641, + 0.6383970379829407, + -0.28400081396102905 + ], + [ + 0.04836016893386841, + 7.539241050835699e-05, + -0.032486893236637115, + -0.2911827862262726, + 0.6408840417861938, + 0.6524297595024109, + -0.28074124455451965 + ], + [ + 0.05040239915251732, + 0.0012286227429285645, + -0.030642550438642502, + -0.28806933760643005, + 0.6379303336143494, + 0.6594583988189697, + -0.27418169379234314 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e037/wrist.mp4 b/episodes/c5_p001_e037/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..84b658b5278bd83558672d22d49e9c01bb0c1f51 --- /dev/null +++ b/episodes/c5_p001_e037/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6074eb5796f762b9a5db852a1a4fc7dde0ce2ec6e37cfb34beaf68933c8b719b +size 7717066 diff --git a/episodes/c5_p001_e038/data.npz b/episodes/c5_p001_e038/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..755a753d7e992f665de86db980abee66225a4fee --- /dev/null +++ b/episodes/c5_p001_e038/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a38ce6352350cd8debe0fe3328f42d5c3dccfe1866445a2518f8f16f702bfe4 +size 192071 diff --git a/episodes/c5_p001_e038/device_events.jsonl b/episodes/c5_p001_e038/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1059ec1397fcf2f8caaecd2501570d2ea1d19382 --- /dev/null +++ b/episodes/c5_p001_e038/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 62, "t": 0.31, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 62, "t": 0.31, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 67, "t": 0.335, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6287, "t": 31.435, "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": 6900, "t": 34.5, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 6900, "t": 34.5, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.762134060613993}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6900, "t": 34.5, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 6900, "t": 34.5, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 6900, "t": 34.5, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 7319, "t": 36.595, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 7319, "t": 36.595, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 7319, "t": 36.595, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 7319, "t": 36.595, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7319, "t": 36.595, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7319, "t": 36.595, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7319, "t": 36.595, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 7319, "t": 36.595, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 18, "step": 7319, "t": 36.595, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.762134060613993}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8072, "t": 40.36, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 8072, "t": 40.36, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.765000000001926}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8072, "t": 40.36, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.765000000001926}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8072, "t": 40.36, "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": 8072, "t": 40.36, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 24, "step": 8072, "t": 40.36, "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": 8492, "t": 42.46, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 8492, "t": 42.46, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.5936870711996676e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8492, "t": 42.46, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.5936870711996676e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8492, "t": 42.46, "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": 8492, "t": 42.46, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8492, "t": 42.46, "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": 9069, "t": 45.345, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10800, "t": 54.0, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 33, "step": 10800, "t": 54.0, "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": 10800, "t": 54.0, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10800, "t": 54.0, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p001_e038/env.mp4 b/episodes/c5_p001_e038/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6aa15b1c34fb5fa89c5a691f0b794521ea3102b4 --- /dev/null +++ b/episodes/c5_p001_e038/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2673aaeb28a156e4edc324e3c79fca00dbf18a8b2c2b7e2a53c98ca4b9e6c960 +size 1188844 diff --git a/episodes/c5_p001_e038/meta.json b/episodes/c5_p001_e038/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c303496bbb918e66475840eef999e8ca4d876bd7 --- /dev/null +++ b/episodes/c5_p001_e038/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/38", + "fps": 25, + "frames": 1249, + "kept_ticks": "even", + "video_frames": { + "wrist": 1249, + "env": 1249 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e038/scene_snapshot.json b/episodes/c5_p001_e038/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..5f239a70db72b133102f0460dfd57c9591f88c2a --- /dev/null +++ b/episodes/c5_p001_e038/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 38, + "env_id": 1, + "run_id": "c5_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.700581941573633e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2987944820561875, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.13539776006815182, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2987944820561875, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4176454544067383, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + -2.2407515643863007e-05, + 8.049546446065037e-11, + 4.175527923422351e-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": [ + -8.188500988381975e-10, + -3.063338471775978e-11, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.0040121622978404e-08, + -8.115148375509307e-08, + -5.994070573223098e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.01519775390625, + 0.4499969482421875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.258778663057683e-09, + 6.142377578788327e-11, + -2.2372858438757248e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.121370107881603e-09, + 3.603632392490397e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 3.2625422363707912e-09, + 1.0170679587417908e-07, + -1.2260714221667968e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3066234588623047, + 1.0338058471679688, + 0.8999999761581421 + ], + "ori": [ + -0.39859503507614136, + -7.157925807632637e-08, + -9.318789295775787e-08, + 0.9171270728111267 + ], + "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": [ + 1.1798267918194938e-10, + 2.4263938080970604e-10, + 0.0 + ], + "angular_velocity": [ + -1.7501672999742368e-08, + 1.0084898249829166e-08, + -2.0757406904436948e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.617380142211914, + 0.5785684585571289, + 0.8999999761581421 + ], + "ori": [ + 0.9092822074890137, + 1.7964907783607487e-08, + 1.50183893765643e-07, + 0.41618025302886963 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.257977260138432e-06, + 7.43651526136091e-07, + -3.952533006668091e-06 + ], + "angular_velocity": [ + -6.440450670197606e-05, + 0.00010870568075915799, + -2.514585730750696e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.42171764373779297, + 1.1471261978149414, + 0.9179999828338623 + ], + "ori": [ + 0.0005804075626656413, + 1.2750820399531904e-09, + 2.8433655430148974e-09, + 0.9999998211860657 + ], + "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": [ + 1.2952165562296614e-08, + 6.07530781238097e-09, + 1.4528632164001465e-07 + ], + "angular_velocity": [ + -8.766239147917076e-07, + 1.7982763438340044e-06, + -3.8950140890392504e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.01867198944091797, + 0.4619150161743164, + 0.9180000424385071 + ], + "ori": [ + 0.9948755502700806, + 4.256305530248028e-09, + 1.3026857370590506e-10, + -0.10110694169998169 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.602942275752866e-09, + 9.211518214868875e-10, + -5.651265382766724e-06 + ], + "angular_velocity": [ + 6.512204322461912e-07, + -1.716173073873506e-06, + -1.2594427722945056e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.3193550109863281, + 1.0327587127685547, + 0.9179999828338623 + ], + "ori": [ + -0.44493183493614197, + -7.610609742414454e-08, + -8.915880300719436e-08, + 0.8955644369125366 + ], + "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": [ + 2.1281683970642007e-08, + 5.497007293797651e-09, + -6.075948476791382e-06 + ], + "angular_velocity": [ + -1.120228148465685e-06, + 6.911143373145023e-07, + 1.0456767540745204e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.6219844818115234, + 0.5701265335083008, + 0.9179999828338623 + ], + "ori": [ + 0.8680291175842285, + 1.4754366617353298e-08, + 1.311974102691238e-07, + 0.4965134859085083 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.981846591865178e-06, + 1.98229395209637e-06, + -3.956258296966553e-06 + ], + "angular_velocity": [ + -6.586327072000131e-05, + 0.00010168631706619635, + 3.347260246755468e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 4.199999999999933, + "step": 840, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 3.700581941573633e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2987944820561875, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 777, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.2676454484462738, + 0.6999977231025696, + 0.0 + ], + "carrier_2": [ + -0.13480225205421448, + -3.039836883544922e-06, + 0.0 + ], + "carrier_3": [ + -1.4566234648227692, + 0.5838058590888977, + 0.0 + ], + "carrier_4": [ + 1.4673801362514496, + 0.12856847047805786, + 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": [ + 0.46643836167221775, + 0.505490807520514, + 2.8573195294931892 + ], + "ori": [ + -9.167977778408959, + 14.101512426138186, + -5.395445639901851 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6471.820678405973, + "color": [ + 0.8697034742554929, + 0.8217454368303438, + 0.862758195975886 + ], + "intensity": 12434.194192458815, + "width": 1.6399935570966686, + "height": 1.4918696590669143 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.8705474347150163, + 0.963274500887376, + 1.7401562449461934 + ], + "ori": [ + -1.520081201250612, + 23.05491181760827, + -19.007828138249128 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6209.409177356968, + "color": [ + 0.9003817025178277, + 0.8814412100671994, + 0.973858490874121 + ], + "intensity": 6359.580224738506, + "radius": 0.18177769426869422 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1219.0874068319254, + "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": [ + [ + -0.05390825495123863, + -2.301604986190796, + 2.4878382682800293, + -1.7556275129318237, + -1.5725618600845337, + 4.502643585205078, + 0.008524741977453232, + 0.006320212967693806 + ], + [ + 0.9141024351119995, + -1.719398021697998, + 2.0904994010925293, + -1.9418998956680298, + -1.5707999467849731, + 2.484901189804077, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141018390655518, + -1.719399333000183, + 2.0904996395111084, + -1.9419004917144775, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9895782470703125, + -1.257452130317688, + 2.2126119136810303, + -2.5259904861450195, + -1.570772647857666, + 2.4867806434631348, + 0.007645670790225267, + 0.006995450239628553 + ] + ], + "joint_vel": [ + [ + -0.037636976689100266, + -0.0023813736625015736, + -0.006976296193897724, + -0.002878342056646943, + -0.0016320132417604327, + 0.009206300601363182, + -0.007251570001244545, + 6.0353297158144414e-05 + ], + [ + 2.223637155778425e-38, + -2.940600725052042e-38, + -1.731639443265978e-38, + -3.3838609126376713e-37, + 7.23058169422179e-37, + 5.321771041436754e-37, + -1.0939275698108686e-37, + 1.031851393087805e-37 + ], + [ + 5.108951881993562e-06, + -6.8119352363282815e-06, + 2.0435836631804705e-05, + 1.0217926501354668e-05, + 3.405978532100562e-06, + 2.0435873011592776e-05, + -2.358445903849482e-12, + -5.986659193553401e-13 + ], + [ + -0.00037276698276400566, + -6.72919923090376e-05, + -2.1962623577564955e-05, + -0.0007489436538890004, + 0.00019662648264784366, + 0.0009380534756928682, + -0.008229825645685196, + 0.00022865156643092632 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05131202191114426, + -0.0021435373928397894, + -0.03284144401550293, + -0.2683439552783966, + 0.6563283205032349, + 0.6462071537971497, + -0.2822072207927704 + ], + [ + 0.0539933405816555, + 0.001059031579643488, + -0.031227752566337585, + -0.27359774708747864, + 0.6558132171630859, + 0.6420989632606506, + -0.2876841723918915 + ], + [ + 0.04768618568778038, + 0.0003095407737419009, + -0.032020941376686096, + -0.2955710291862488, + 0.6450178623199463, + 0.6458975672721863, + -0.28179076313972473 + ], + [ + 0.049536529928445816, + 0.0029952004551887512, + -0.032492272555828094, + -0.2822939455509186, + 0.6465564966201782, + 0.6558306813240051, + -0.26862794160842896 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e038/wrist.mp4 b/episodes/c5_p001_e038/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2c26626562a1c9f8b3820906dc11c80d8343f51e --- /dev/null +++ b/episodes/c5_p001_e038/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc900e2e9d31ca09f5656d52ddf8832999419cccc3dee7e89e2f2bb06585fa24 +size 6819137 diff --git a/episodes/c5_p001_e039/data.npz b/episodes/c5_p001_e039/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..ce9d00eb2d83514030036cc7dca4a8b62e5e8eb1 --- /dev/null +++ b/episodes/c5_p001_e039/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5baecfbd7966aeed43f16153e807c1fa5ed3a070be61ef21328fbc31906dd122 +size 190923 diff --git a/episodes/c5_p001_e039/device_events.jsonl b/episodes/c5_p001_e039/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9671ebeeeafae4db9bb0396ce3cefa0002db2553 --- /dev/null +++ b/episodes/c5_p001_e039/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 173, "t": 0.865, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 173, "t": 0.865, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 178, "t": 0.89, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6119, "t": 30.595, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6732, "t": 33.66, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 6, "step": 6732, "t": 33.66, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.7783485754682182}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6732, "t": 33.66, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 8, "step": 6732, "t": 33.66, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 6732, "t": 33.66, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7151, "t": 35.755, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 17, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 7151, "t": 35.755, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.7783485754682182}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7707, "t": 38.535, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 7707, "t": 38.535, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.7800000000014222}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7707, "t": 38.535, "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": 2.7800000000014222}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7707, "t": 38.535, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 23, "step": 7707, "t": 38.535, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 7707, "t": 38.535, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 8127, "t": 40.635, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 8127, "t": 40.635, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8127, "t": 40.635, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8127, "t": 40.635, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8127, "t": 40.635, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8127, "t": 40.635, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8708, "t": 43.54, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 10424, "t": 52.12, "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": 33, "step": 10424, "t": 52.12, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10424, "t": 52.12, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10424, "t": 52.12, "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/c5_p001_e039/env.mp4 b/episodes/c5_p001_e039/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7d15aeb332d1f458a5f3d833e0198d2ba13bd022 --- /dev/null +++ b/episodes/c5_p001_e039/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96f990022156188401ad60cc259e84fc5399d01e76b8d663db8d7f7640c32a68 +size 1290110 diff --git a/episodes/c5_p001_e039/meta.json b/episodes/c5_p001_e039/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..da7108ffbd89b92835fb5792b64e656eda38483b --- /dev/null +++ b/episodes/c5_p001_e039/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p001/magicsim/39", + "fps": 25, + "frames": 1232, + "kept_ticks": "even", + "video_frames": { + "wrist": 1232, + "env": 1232 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p001_e039/scene_snapshot.json b/episodes/c5_p001_e039/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..de6425d26622ceffd38737a4cdd896eab12a22c0 --- /dev/null +++ b/episodes/c5_p001_e039/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 39, + "env_id": 2, + "run_id": "c5_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.21297817410138803, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.06011179313662307, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.21297817410138803, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.2974214553833008, + 1.1525201797485352, + 0.8999999761581421 + ], + "ori": [ + -0.01063641905784607, + -1.2488521328180013e-10, + -4.325103120095264e-08, + 0.9999434351921082 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.332595603453228e-08, + 2.8414265784704185e-07, + 6.705522537231445e-08 + ], + "angular_velocity": [ + -5.9071417126688175e-06, + 2.3042062480271852e-07, + -3.4632480492291506e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1084470748901367, + 1.1418371200561523, + 0.8999999761581421 + ], + "ori": [ + -0.08127395808696747, + -8.146668051267625e-08, + -3.694502126450061e-08, + 0.9966918230056763 + ], + "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": [ + -1.2825049680031952e-06, + -2.371662333189306e-07, + -3.285706043243408e-06 + ], + "angular_velocity": [ + 3.130254117422737e-05, + -0.00011324238585075364, + 1.9015689645129896e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.08989620208740234, + 0.4475879669189453, + 0.8999999761581421 + ], + "ori": [ + 0.9999253749847412, + 3.5422098587645223e-09, + -4.04962285927013e-09, + 0.012214785441756248 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.3246105040897191e-10, + 6.780709327358636e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -3.1597544136729994e-08, + 9.709346215913683e-09, + -2.527490439163671e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6645793914794922, + 0.9482431411743164, + 0.8999999761581421 + ], + "ori": [ + 0.5392889976501465, + -4.104639828028667e-08, + 1.7786692296795081e-07, + 0.8421208262443542 + ], + "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": [ + -3.619265775967051e-09, + -6.993218226725162e-10, + 0.0 + ], + "angular_velocity": [ + 1.4325669539516639e-08, + -1.0699248065293432e-07, + 3.669767423275516e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.31089210510253906, + 1.1594104766845703, + 0.9179999828338623 + ], + "ori": [ + -0.017086543142795563, + 1.3552548239204043e-07, + -6.771470566491189e-07, + 0.9998540282249451 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.554752765921876e-06, + 2.15971931538661e-06, + -4.731118679046631e-07 + ], + "angular_velocity": [ + -0.00017183813906740397, + -1.1060456017730758e-06, + -4.397803786559962e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.0952329635620117, + 1.153334617614746, + 0.9179999828338623 + ], + "ori": [ + -0.10665558278560638, + -7.890034225965792e-08, + -4.1309501597197595e-08, + 0.9942960739135742 + ], + "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": [ + -2.6415525553602492e-06, + -5.736196726502385e-07, + -7.666647434234619e-06 + ], + "angular_velocity": [ + 2.685386971279513e-05, + -0.0001140534586738795, + 1.8175799709752027e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.0846261978149414, + 0.4434499740600586, + 0.9180000424385071 + ], + "ori": [ + 0.9999458193778992, + 4.435220191112421e-09, + -4.6021835231613295e-09, + -0.0104145472869277 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2342254329666957e-08, + 2.065548443397347e-08, + -5.401670932769775e-06 + ], + "angular_velocity": [ + -1.7140615682365024e-07, + -1.4028041732672136e-06, + 9.67012852015614e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.6628036499023438, + 0.9554157257080078, + 0.9179999828338623 + ], + "ori": [ + 0.6123223900794983, + -5.2944646000696594e-08, + 1.7558632237069105e-07, + 0.7906081080436707 + ], + "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": [ + 3.435809503571363e-08, + -1.3877654225780134e-07, + -1.7061829566955566e-06 + ], + "angular_velocity": [ + 5.127093572809827e-06, + 1.195369122797274e-06, + 3.715556928796104e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 3.0399999999999574, + "step": 608, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.21297817410138803, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 434, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.1474214494228363, + 0.7025201916694641, + 0.0 + ], + "carrier_2": [ + -1.2584470808506012, + 0.6918371319770813, + 0.0 + ], + "carrier_3": [ + -0.060103803873062134, + -0.0024120211601257324, + 0.0 + ], + "carrier_4": [ + 1.5145793855190277, + 0.49824315309524536, + 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 + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.7741660326045549, + -0.3669238229449231, + 2.7920895122846416 + ], + "ori": [ + -10.842551003973842, + 3.5262427196881774, + 0.5147353552109344 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6459.610601640443, + "color": [ + 0.8743736205520717, + 0.9903563226702664, + 0.8517765105357933 + ], + "intensity": 8802.76928861708, + "width": 1.4794841540577623, + "height": 1.71064331360092 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.0059498553455317, + -0.09968409524210853, + 1.9455591130022283 + ], + "ori": [ + -10.522626000129325, + 0.0507807316846538, + 8.224659586147183 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4356.184362140162, + "color": [ + 0.8283616472615322, + 0.8809617133944778, + 0.8790800563239025 + ], + "intensity": 2290.364701373542, + "radius": 0.19210653716532655 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1219.0874068319254, + "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": [ + [ + -0.1498776227235794, + -2.1268506050109863, + 2.721954345703125, + -2.1659457683563232, + -1.5694034099578857, + 4.5162224769592285, + 0.017999989911913872, + 0.017999988049268723 + ], + [ + 0.9325292110443115, + -1.2847245931625366, + 2.2551989555358887, + -2.5412001609802246, + -1.5708515644073486, + 2.7056169509887695, + 0.007583571132272482, + 0.007055539172142744 + ], + [ + 0.9141026139259338, + -1.7193987369537354, + 2.0904996395111084, + -1.9419010877609253, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9895612597465515, + -1.4940985441207886, + 2.0885655879974365, + -2.1652655601501465, + -1.5707850456237793, + 2.486774206161499, + 0.007662829477339983, + 0.006997601594775915 + ] + ], + "joint_vel": [ + [ + 1.2772347872669343e-06, + -3.8145243630167535e-15, + 6.648564890906344e-16, + -2.1972734300990983e-14, + 6.811957064201124e-06, + 4.523861753952252e-13, + 1.2995157305795146e-07, + 1.559432831754748e-07 + ], + [ + -0.0002012477780226618, + -0.00010786887287395075, + -0.001134346122853458, + -0.003584167454391718, + 0.002833385020494461, + 0.013262896798551083, + -0.007111681625247002, + 0.00039694533916190267 + ], + [ + 3.4059632980643073e-06, + 3.405934876354877e-06, + -9.719219352943842e-12, + -1.5717626852818078e-12, + 5.519019486213694e-13, + -6.811957518948475e-06, + 2.599053772200932e-08, + -2.599018245064144e-08 + ], + [ + 0.00011635632836259902, + -1.4802086298004724e-05, + -0.00013903393119107932, + 0.00010418507736176252, + 6.24569111096207e-07, + -0.00020904932171106339, + -0.008162900805473328, + 0.0007007870590314269 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05066277086734772, + -0.0022203063126653433, + -0.03320716321468353, + -0.27292463183403015, + 0.6501323580741882, + 0.6520552635192871, + -0.278682678937912 + ], + [ + 0.05357193574309349, + 0.000726382655557245, + -0.03208862245082855, + -0.2758755683898926, + 0.6571568846702576, + 0.6400073766708374, + -0.28710290789604187 + ], + [ + 0.0492008775472641, + 0.00025940765044651926, + -0.030066315084695816, + -0.29230543971061707, + 0.6468781232833862, + 0.6455579996109009, + -0.2817108929157257 + ], + [ + 0.05016084387898445, + 0.0013358810683712363, + -0.03080686926841736, + -0.28296688199043274, + 0.6456522941589355, + 0.6565892100334167, + -0.26824143528938293 + ] + ], + "camera1": [ + [ + 0.07115355134010315, + 0.5745897889137268, + 1.9365365505218506, + 0.030086036771535873, + 0.027584834024310112, + 0.28576159477233887, + 0.9574310779571533 + ], + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p001_e039/wrist.mp4 b/episodes/c5_p001_e039/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1fd6b41a50cbd23762d067e504ac16b898e945e4 --- /dev/null +++ b/episodes/c5_p001_e039/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0fdb9b68e2d6e9b6c15297157734ce93b94178c5e78248627255e88ed36301fc +size 6432492 diff --git a/episodes/c5_p002_e000/data.npz b/episodes/c5_p002_e000/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..3a2427fc3dc065670000943dce83860ab508f20a --- /dev/null +++ b/episodes/c5_p002_e000/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff846b06d0d3712a12147986e6319eed5fef5154301f33f6d9cfcd3e2c52a413 +size 185797 diff --git a/episodes/c5_p002_e000/device_events.jsonl b/episodes/c5_p002_e000/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7407a406bc139f1837e9bc345f4b66c930a45ffa --- /dev/null +++ b/episodes/c5_p002_e000/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 136, "t": 0.68, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 136, "t": 0.68, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 141, "t": 0.705, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 853, "t": 4.265, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 5535, "t": 27.675, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 6152, "t": 30.76, "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": 6152, "t": 30.76, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.2997718300196395}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 6152, "t": 30.76, "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": 6152, "t": 30.76, "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": 6152, "t": 30.76, "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": 6571, "t": 32.855, "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": 6571, "t": 32.855, "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": 6571, "t": 32.855, "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": 6571, "t": 32.855, "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": 6571, "t": 32.855, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6571, "t": 32.855, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 6571, "t": 32.855, "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": 6571, "t": 32.855, "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": 6571, "t": 32.855, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.2997718300196395}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 7231, "t": 36.155, "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": 7231, "t": 36.155, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.3000000000016882}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7231, "t": 36.155, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.3000000000016882}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 7231, "t": 36.155, "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": 7231, "t": 36.155, "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": 7231, "t": 36.155, "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": 7651, "t": 38.255, "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": 7651, "t": 38.255, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.743766407993121e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.743766407993121e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 7651, "t": 38.255, "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": 7651, "t": 38.255, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 7651, "t": 38.255, "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": 8231, "t": 41.155, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 33, "step": 9888, "t": 49.44, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 9888, "t": 49.44, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 9888, "t": 49.44, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 9888, "t": 49.44, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p002_e000/env.mp4 b/episodes/c5_p002_e000/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6ea758ab635e809ca5814f2cda453247c99ff30c --- /dev/null +++ b/episodes/c5_p002_e000/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56fe9899a93a022bc2dd54f5a1ac368d8b0d3d8a99c33c92588fe61b9b000359 +size 1380892 diff --git a/episodes/c5_p002_e000/meta.json b/episodes/c5_p002_e000/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5c939115bf4b0454a73c1f4646a873497847e8c6 --- /dev/null +++ b/episodes/c5_p002_e000/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/0", + "fps": 25, + "frames": 1196, + "kept_ticks": "even", + "video_frames": { + "wrist": 1196, + "env": 1196 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e000/scene_snapshot.json b/episodes/c5_p002_e000/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..3a530a61593d9e22a593951d2c91e20ef0cb17ca --- /dev/null +++ b/episodes/c5_p002_e000/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 0, + "env_id": 1, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.018499083156211e-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": 0.15096005178906094, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.01749058120737118, + "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": 0.15096005178906094, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.13289833068847656, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.63785149279272e-09, + 4.984568313659565e-12, + -1.2420243365340866e-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": [ + 1.270477723025465e-09, + 1.260097914901337e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -4.4317747693867204e-08, + 1.1201499461321873e-07, + -2.1462629007373835e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.09920692443847656, + 1.150003433227539, + 0.8999999761581421 + ], + "ori": [ + 2.0942496121278964e-05, + 7.736117524359543e-09, + 5.161653326979376e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1694507584536495e-09, + -7.906675314472977e-11, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -9.970852588025991e-09, + -1.1475196259880249e-07, + -7.475753349694969e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5532512664794922, + 0.5186738967895508, + 0.8999999761581421 + ], + "ori": [ + 0.9515451788902283, + 4.228141392559337e-08, + -1.0632904690055511e-07, + 0.3075088858604431 + ], + "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": [ + 3.979477858351288e-11, + 5.0788817596014724e-11, + 0.0 + ], + "angular_velocity": [ + -1.0837531760898855e-08, + -3.224382538746795e-09, + 2.0650405829769625e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1665019989013672, + 1.1272554397583008, + 0.8999999761581421 + ], + "ori": [ + -0.17432846128940582, + -5.096833533002609e-08, + 3.814430016291226e-08, + 0.9846875667572021 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0924381399490812e-09, + -2.2398172205839728e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.4914191126536025e-07, + 1.5085685589610875e-08, + -2.5550987103883926e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.13019275665283203, + 0.43991851806640625, + 0.9179999828338623 + ], + "ori": [ + 0.9999721050262451, + 1.009463179713066e-09, + 1.0078192724805035e-09, + 0.0074724601581692696 + ], + "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": [ + -1.4982317608769335e-08, + 2.0479589579736057e-08, + 1.5273690223693848e-07 + ], + "angular_velocity": [ + -1.7492166648480634e-07, + -1.7177284235003754e-06, + 5.65478686098686e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.08885669708251953, + 1.1449995040893555, + 0.9180000424385071 + ], + "ori": [ + 0.08301284909248352, + 6.4711525027405514e-09, + 7.311799166132005e-09, + 0.9965485334396362 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.693569254423437e-09, + -1.0263792038500696e-09, + -5.278736352920532e-06 + ], + "angular_velocity": [ + -1.4970545407777536e-06, + 1.120944034482818e-06, + 9.620638508067714e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.5480690002441406, + 0.5084724426269531, + 0.9179999828338623 + ], + "ori": [ + 0.9597436785697937, + 4.546723886278414e-08, + -1.0564819064029507e-07, + 0.28087764978408813 + ], + "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": [ + -1.3943764365365041e-08, + -7.533440538054492e-09, + -6.493180990219116e-06 + ], + "angular_velocity": [ + 1.0344416523366817e-06, + -9.899391670842306e-07, + 4.5374797252861754e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.1679563522338867, + 1.1198396682739258, + 0.9179999828338623 + ], + "ori": [ + -0.09851904958486557, + -5.5004505838951445e-08, + 4.2286018242521095e-08, + 0.9951352477073669 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0071350686757796e-07, + 1.0508964720656877e-07, + 1.9371509552001953e-07 + ], + "angular_velocity": [ + -2.957956439786358e-06, + 3.117067535640672e-06, + 2.2274286948231747e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 1.8999999999999815, + "step": 380, + "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": 2.018499083156211e-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": 0.15096005178906094, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 243, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.017101675271987915, + 7.748603820800781e-07, + 0.0 + ], + "carrier_2": [ + -0.050793081521987915, + 0.700003445148468, + 0.0 + ], + "carrier_3": [ + 1.4032512605190277, + 0.06867390871047974, + 0.0 + ], + "carrier_4": [ + -1.3165020048618317, + 0.6772554516792297, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.7781540268099717, + -0.43191020753524617, + 2.617084652535925 + ], + "ori": [ + -13.782226351570618, + -6.669689042753266, + 2.774509242347982 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5337.866746703284, + "color": [ + 0.9235826430689027, + 0.9184583841024124, + 0.8765560063192526 + ], + "intensity": 9244.52560296798, + "width": 2.163127523379903, + "height": 1.0126480337927526 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.3321427219372615, + 1.0871427084498098, + 2.1430752885017936 + ], + "ori": [ + 27.03627185224488, + -13.774252239477889, + -1.0084337835472326 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6844.557324073584, + "color": [ + 0.8673899340665993, + 0.8117839685571094, + 0.9302753078904907 + ], + "intensity": 2605.1666955983733, + "radius": 0.3774728522327415 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1147.3060942198235, + "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 + ], + [ + 0.9150980710983276, + -1.7169491052627563, + 2.090620756149292, + -1.9444631338119507, + -1.5707999467849731, + 2.4847257137298584, + 0.018000202253460884, + 0.017999796196818352 + ], + [ + 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 + ], + [ + 0.0021444729063659906, + 0.005562887527048588, + 0.0003384021983947605, + -0.005547680892050266, + 6.3052502810023725e-06, + -0.00037412988604046404, + 9.377870810567401e-06, + -9.373698048875667e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.051226384937763214, + 0.0018124483758583665, + -0.03303997218608856, + -0.28084126114845276, + 0.6535696983337402, + 0.6388621926307678, + -0.29296743869781494 + ], + [ + 0.047876592725515366, + -0.0012646998511627316, + -0.033509548753499985, + -0.29371803998947144, + 0.640224277973175, + 0.6503114104270935, + -0.28449541330337524 + ], + [ + 0.0504305474460125, + 1.949169200088363e-05, + -0.03390157222747803, + -0.281559020280838, + 0.6423909068107605, + 0.6594037413597107, + -0.2706383168697357 + ], + [ + 0.05040046200156212, + 0.0023525927681475878, + -0.026530804112553596, + -0.28097501397132874, + 0.6467493176460266, + 0.6486605405807495, + -0.2863702178001404 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e000/wrist.mp4 b/episodes/c5_p002_e000/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..026b328554af36d143680c0ca2bf7d78d979d84b --- /dev/null +++ b/episodes/c5_p002_e000/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c73384a0aeca05c0e0efc2e3bcc58fbe2f118affef8563ae555ef08f0f440677 +size 6733305 diff --git a/episodes/c5_p002_e001/data.npz b/episodes/c5_p002_e001/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..c71fa84e9eba8512d7b9e14391f4b933a5934194 --- /dev/null +++ b/episodes/c5_p002_e001/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a4a21b3335e5344208b03e3530d78e8506916a7eb21a7382252c00416b45b8f +size 186359 diff --git a/episodes/c5_p002_e001/device_events.jsonl b/episodes/c5_p002_e001/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f33dadc88f71cb607c3984ee420fb421ca767de2 --- /dev/null +++ b/episodes/c5_p002_e001/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 88, "t": 0.44, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 88, "t": 0.44, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 93, "t": 0.465, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6403, "t": 32.015, "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": 7016, "t": 35.08, "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": 7016, "t": 35.08, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.4115911635669716}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7016, "t": 35.08, "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": 7016, "t": 35.08, "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": 7016, "t": 35.08, "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": 7435, "t": 37.175, "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": 7435, "t": 37.175, "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": 7435, "t": 37.175, "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": 7435, "t": 37.175, "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": 7435, "t": 37.175, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7435, "t": 37.175, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7435, "t": 37.175, "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": 7435, "t": 37.175, "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": 7435, "t": 37.175, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.4115911635669716}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7918, "t": 39.59, "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": 7918, "t": 39.59, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.4150000000012355}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7918, "t": 39.59, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.4150000000012355}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7918, "t": 39.59, "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": 7918, "t": 39.59, "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": 7918, "t": 39.59, "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": 8338, "t": 41.69, "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": 8338, "t": 41.69, "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": 8338, "t": 41.69, "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": 8338, "t": 41.69, "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": 8338, "t": 41.69, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8338, "t": 41.69, "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": 8919, "t": 44.595, "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": 10640, "t": 53.2, "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": 10640, "t": 53.2, "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": 10640, "t": 53.2, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10640, "t": 53.2, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p002_e001/env.mp4 b/episodes/c5_p002_e001/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..de4659604965212c0fb2153e40ddd6de928fe05f --- /dev/null +++ b/episodes/c5_p002_e001/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e95142a854e1bfbae4afc67e72d2215a84e9f7e65a182ee68053313cd450545f +size 1273141 diff --git a/episodes/c5_p002_e001/meta.json b/episodes/c5_p002_e001/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ce04fff37d6e20b03d40fbeedfedd1b884c22840 --- /dev/null +++ b/episodes/c5_p002_e001/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/1", + "fps": 25, + "frames": 1220, + "kept_ticks": "even", + "video_frames": { + "wrist": 1220, + "env": 1220 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e001/scene_snapshot.json b/episodes/c5_p002_e001/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..20c5d1e743c657829e857862d8d1c40a9fe048eb --- /dev/null +++ b/episodes/c5_p002_e001/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 1, + "env_id": 0, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.018499083156211e-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": 0.15762390198698684, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.0352616599437926, + "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": 0.15762390198698684, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3990039825439453, + 0.7958583831787109, + 0.8999999761581421 + ], + "ori": [ + -0.7106673121452332, + -9.43485787274767e-08, + -5.359072474675486e-08, + 0.7035282254219055 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.7792668788606534e-07, + -1.0152241429750575e-06, + -2.6635825634002686e-06 + ], + "angular_velocity": [ + 8.453441841993481e-05, + 2.460181713104248e-05, + 1.6378453437937424e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.11435413360595703, + 0.4499979019165039, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -7.272381585821108e-10, + 3.2728039722762503e-10, + -1.743582652125042e-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": [ + -1.7889867365283862e-10, + 2.081800065667494e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.60568120577409e-07, + -2.485618999514827e-08, + -2.284493039184099e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6729621887207031, + 0.6683664321899414, + 0.8999999761581421 + ], + "ori": [ + 0.8312247395515442, + -4.3021973539225655e-08, + 5.8154414617206385e-09, + 0.5559366941452026 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.763087146919531e-10, + -1.6781451228631283e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.1111652042927744e-08, + -8.407273099919621e-08, + -1.1501535723823508e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.2039346694946289, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + -1.110552329919301e-05, + -6.759617310336807e-09, + 1.354085399363214e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.9997266892678454e-09, + -1.1946066358348162e-09, + 3.3527612686157227e-08 + ], + "angular_velocity": [ + 9.504570641638566e-08, + -3.0717373533661885e-07, + -1.9647208304718333e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -1.3988933563232422, + 0.8063058853149414, + 0.9179999828338623 + ], + "ori": [ + -0.7095613479614258, + -2.2441830083153036e-07, + 3.500952914237132e-07, + 0.704643726348877 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.23006054511643e-06, + -6.087178917368874e-06, + -4.0121376514434814e-06 + ], + "angular_velocity": [ + 0.00013090127322357148, + 0.0001180138933705166, + -1.6827212675707415e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.09977436065673828, + 0.43830394744873047, + 0.9180000424385071 + ], + "ori": [ + 1.0, + -2.1926840343411413e-09, + -4.0521935806836495e-10, + 2.56359885497659e-06 + ], + "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": [ + -1.311623165634046e-08, + 2.3735324816698267e-08, + -5.494803190231323e-06 + ], + "angular_velocity": [ + -4.318886226428731e-07, + -1.1585191259655403e-06, + 1.071629185389611e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.6657724380493164, + 0.6716232299804688, + 0.9180000424385071 + ], + "ori": [ + 0.857645571231842, + -5.9377292416229466e-08, + 4.670642539394976e-09, + 0.5142413377761841 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.007080462997692e-07, + -1.0255461546648803e-07, + -5.550682544708252e-06 + ], + "angular_velocity": [ + 1.1351535249559674e-05, + 4.245656327839242e-06, + -2.7425076041254215e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.1914834976196289, + 1.1588468551635742, + 0.9179999828338623 + ], + "ori": [ + -0.02652987465262413, + -6.681341258030216e-09, + 1.0366386637983283e-09, + 0.9996480345726013 + ], + "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": [ + 4.5330992293202144e-08, + -2.899556150737226e-08, + -1.2479722499847412e-06 + ], + "angular_velocity": [ + 8.074715651673614e-07, + 2.4465477963531157e-06, + 1.74106524752915e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 4.659999999999923, + "step": 932, + "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": 2.018499083156211e-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": 0.15762390198698684, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 843, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5490039885044098, + 0.3458583950996399, + 0.0 + ], + "carrier_2": [ + -0.035645872354507446, + -2.086162567138672e-06, + 0.0 + ], + "carrier_3": [ + 1.5229621827602386, + 0.21836644411087036, + 0.0 + ], + "carrier_4": [ + 0.05393466353416443, + 0.7000005841255188, + 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": [ + 0.7277507870850263, + 0.5419221938788885, + 3.074608495635918 + ], + "ori": [ + -9.928418073976127, + -12.110181507718101, + 4.340406129781989 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3216.754173088947, + "color": [ + 0.9282071898069005, + 0.8758187256003003, + 0.9922465673025085 + ], + "intensity": 5271.674772855219, + "width": 1.6648178863007295, + "height": 0.9654557603243041 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.3189072621519737, + 1.1262001254159182, + 2.7131106048811064 + ], + "ori": [ + 5.711207544917542, + -25.46119873339901, + 17.71109595080992 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4106.338044999294, + "color": [ + 0.9249694833520226, + 0.8421922914646806, + 0.9140421106310608 + ], + "intensity": 8978.156921553556, + "radius": 0.1655010564372048 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1147.3060942198235, + "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": [ + [ + 0.914104163646698, + -1.7193962335586548, + 2.090498924255371, + -1.941901683807373, + -1.5707999467849731, + 2.4849021434783936, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.7619146108627319, + -1.1845446825027466, + 2.094256639480591, + -2.4805686473846436, + -1.5707108974456787, + 2.3179497718811035, + 0.007762922905385494, + 0.007024015299975872 + ], + [ + 1.0014915466308594, + -1.2659507989883423, + 2.2260360717773438, + -2.5308456420898438, + -1.5708280801773071, + 2.46958065032959, + 0.007663757540285587, + 0.006990530993789434 + ], + [ + 1.1469173431396484, + -1.4434304237365723, + 2.1080214977264404, + -2.2353432178497314, + -1.5707963705062866, + 2.4937984943389893, + 0.01800004579126835, + 0.017999954521656036 + ] + ], + "joint_vel": [ + [ + 2.7413400070607534e-38, + 0.0, + 0.0, + -6.738438947318285e-37, + 4.104918431426752e-37, + -3.0103159962754648e-37, + 2.5990388508034812e-08, + -2.5990388508034812e-08 + ], + [ + -0.00021003028086852282, + -3.552817361196503e-05, + -5.175355545361526e-05, + -0.00017298012971878052, + -0.00120145408436656, + -0.0023505345452576876, + -0.008727829903364182, + 0.00019429009989835322 + ], + [ + -4.258838453097269e-05, + 2.7054995371145196e-05, + -0.0002590270305518061, + -0.0012574243592098355, + 0.0014707848895341158, + 0.005167824216187, + -0.008882210589945316, + 0.0003371697966940701 + ], + [ + -0.0001261919824173674, + 0.014094272628426552, + 0.010225428268313408, + -0.023059742525219917, + -7.490430107282009e-06, + -1.402490397595102e-05, + -6.260191639739787e-06, + 6.235674845811445e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.052603863179683685, + 0.00377072230912745, + -0.03169066458940506, + -0.2780756950378418, + 0.6546304821968079, + 0.6430907845497131, + -0.2838435173034668 + ], + [ + 0.04830426350235939, + -0.001304777804762125, + -0.030397916212677956, + -0.289474755525589, + 0.644968569278717, + 0.650763988494873, + -0.27699488401412964 + ], + [ + 0.05270056799054146, + 0.0017492733895778656, + -0.03367484733462334, + -0.28164908289909363, + 0.645233690738678, + 0.656764566898346, + -0.2701992392539978 + ], + [ + 0.04891834780573845, + -0.0008784145466051996, + -0.026700127869844437, + -0.28962212800979614, + 0.6423048377037048, + 0.6461383700370789, + -0.29337477684020996 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e001/wrist.mp4 b/episodes/c5_p002_e001/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c57b8f1c8535c527859ba23090e35cc981bb3802 --- /dev/null +++ b/episodes/c5_p002_e001/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21945b01440edc2585cd450c6f51cc3bef0be492385a6a41cc5e7c46bb6d49b6 +size 6651637 diff --git a/episodes/c5_p002_e002/data.npz b/episodes/c5_p002_e002/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..a2a3c51b48de5e99ab8e0764d7b1a772a8d926cd --- /dev/null +++ b/episodes/c5_p002_e002/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3e266045c103828586ad525e3253c26180ebe6a2c8df2c31b83e74079876cd2 +size 192982 diff --git a/episodes/c5_p002_e002/device_events.jsonl b/episodes/c5_p002_e002/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7252cee88511142a981fab4fbb4096411d823493 --- /dev/null +++ b/episodes/c5_p002_e002/device_events.jsonl @@ -0,0 +1,38 @@ +{"env_id": 3, "seq": 1, "step": 150, "t": 0.75, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 150, "t": 0.75, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 155, "t": 0.775, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1130, "t": 5.65, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 1216, "t": 6.08, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 1320, "t": 6.6, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 6207, "t": 31.035, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 8, "step": 6820, "t": 34.1, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 9, "step": 6820, "t": 34.1, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.9239718964630037}, "cause": "task-3-1"} +{"env_id": 3, "seq": 10, "step": 6820, "t": 34.1, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 11, "step": 6820, "t": 34.1, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 12, "step": 6820, "t": 34.1, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7239, "t": 36.195, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 14, "step": 7239, "t": 36.195, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 7239, "t": 36.195, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 16, "step": 7239, "t": 36.195, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 17, "step": 7239, "t": 36.195, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 18, "step": 7239, "t": 36.195, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 19, "step": 7239, "t": 36.195, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 7239, "t": 36.195, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 21, "step": 7239, "t": 36.195, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.9239718964630037}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8024, "t": 40.12, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 23, "step": 8024, "t": 40.12, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.925000000002008}, "cause": "program-3-3"} +{"env_id": 3, "seq": 24, "step": 8024, "t": 40.12, "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": 3.925000000002008}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 25, "step": 8024, "t": 40.12, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 26, "step": 8024, "t": 40.12, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 27, "step": 8024, "t": 40.12, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8444, "t": 42.22, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 29, "step": 8444, "t": 42.22, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.142646308797794e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 8444, "t": 42.22, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.142646308797794e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 31, "step": 8444, "t": 42.22, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 32, "step": 8444, "t": 42.22, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 33, "step": 8444, "t": 42.22, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 34, "step": 9022, "t": 45.11, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 10756, "t": 53.78, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 36, "step": 10756, "t": 53.78, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 37, "step": 10756, "t": 53.78, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 38, "step": 10756, "t": 53.78, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p002_e002/env.mp4 b/episodes/c5_p002_e002/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d2261a293646765aa63a164bbb459981b577f84c --- /dev/null +++ b/episodes/c5_p002_e002/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:042a86b3e075ac013f3c83c2f191a70ff793585a372f23def260e0ec235a6ea1 +size 1257996 diff --git a/episodes/c5_p002_e002/meta.json b/episodes/c5_p002_e002/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bdb207a1c3a8fb76b14c490d4672f217f7780257 --- /dev/null +++ b/episodes/c5_p002_e002/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/2", + "fps": 25, + "frames": 1261, + "kept_ticks": "even", + "video_frames": { + "wrist": 1261, + "env": 1261 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e002/scene_snapshot.json b/episodes/c5_p002_e002/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..17d45cd0fb4c59ec780178d878dd5fff511fc30e --- /dev/null +++ b/episodes/c5_p002_e002/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 2, + "env_id": 3, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5256032943725586, + 0.08841419219970703, + 0.8999999761581421 + ], + "ori": [ + 0.7292097806930542, + 0.0, + 0.0, + -0.6842902302742004 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.3549157415758692e-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": 0.20174530217770875, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.20686387968879738, + "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": 0.20174530217770875, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2612676620483398, + 1.0750761032104492, + 0.8999999761581421 + ], + "ori": [ + -0.3163197934627533, + 2.1632070357213706e-08, + -4.588211410805343e-08, + 0.9486526250839233 + ], + "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": [ + 1.4951095916870827e-09, + -1.8026450332442323e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 2.3405955573707615e-07, + 1.841850405526202e-07, + -2.5652314050716996e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.056511878967285156, + 0.4488039016723633, + 0.8999999761581421 + ], + "ori": [ + 0.9997591972351074, + 6.102516270090064e-10, + -3.7025418286873446e-09, + 0.021944619715213776 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.082976510337403e-10, + 9.044116566769844e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -5.0710653454189014e-09, + 7.684693770215745e-08, + -2.647086105866947e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6668624877929688, + 0.9430160522460938, + 0.8999999761581421 + ], + "ori": [ + 0.5480428338050842, + -5.3593041116073437e-08, + -4.40840182136526e-08, + 0.8364503383636475 + ], + "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": [ + -2.101756546579736e-09, + -3.2730279597714684e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 2.076045291232731e-08, + -1.7652196504513995e-07, + -5.993167073725658e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3956623077392578, + 1.1535673141479492, + 0.8999999761581421 + ], + "ori": [ + 0.0025524222292006016, + 2.2096218188494277e-09, + -1.939741478551582e-09, + 0.9999967217445374 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.6824852622221442e-09, + 2.9715832017274124e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.240240408151294e-07, + 1.300783623037205e-07, + -3.6413450033023764e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -1.2673673629760742, + 1.0745859146118164, + 0.9179999828338623 + ], + "ori": [ + -0.23557953536510468, + 2.7408997738120888e-08, + -4.396826014385624e-08, + 0.971855103969574 + ], + "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": [ + 8.193591582994486e-08, + 9.10481556815057e-09, + 1.341104507446289e-07 + ], + "angular_velocity": [ + -2.0632305108847504e-07, + 2.5385381832165876e-06, + 2.7101859245703963e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.06792736053466797, + 0.4450349807739258, + 0.9180000424385071 + ], + "ori": [ + 0.9937364459037781, + -1.263618376601272e-11, + -3.910185064626148e-09, + 0.11174961179494858 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.609335135796755e-11, + 1.0714061637884242e-08, + -5.330890417098999e-06 + ], + "angular_velocity": [ + 1.1145458529426833e-06, + -1.669652647251496e-06, + -8.898071968133081e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 1.6781902313232422, + 0.9360055923461914, + 0.9180000424385071 + ], + "ori": [ + 0.4753136932849884, + -5.7018052501689453e-08, + -3.892488820156359e-08, + 0.879816472530365 + ], + "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": [ + -4.436922829142986e-09, + -1.4327499187061221e-08, + -4.7497451305389404e-06 + ], + "angular_velocity": [ + 1.1105864814453525e-06, + 6.81341077779507e-07, + 4.350908255901231e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.4033021926879883, + 1.143712043762207, + 0.9179999828338623 + ], + "ori": [ + 0.05132707208395004, + 7.009779423583495e-10, + 3.145757432321261e-09, + 0.998681902885437 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.475057538566034e-08, + 8.103739190801207e-08, + -1.691281795501709e-06 + ], + "angular_velocity": [ + -2.22123708226718e-06, + 3.241478452764568e-06, + 5.5512373364763334e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 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": 2.3549157415758692e-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": 0.20174530217770875, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 561, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.4112676680088043, + 0.6250761151313782, + 0.0 + ], + "carrier_2": [ + -0.20651188492774963, + -0.0011960864067077637, + 0.0 + ], + "carrier_3": [ + 1.5168624818325043, + 0.4930160641670227, + 0.0 + ], + "carrier_4": [ + 0.24566230177879333, + 0.7035673260688782, + 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": [ + 0.7402233456444883, + -0.2441661279486957, + 3.055012500516506 + ], + "ori": [ + 4.036642264504895, + -7.6136794822269485, + -3.49304894806156 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5141.18193802327, + "color": [ + 0.8690264076980275, + 0.8176711442754843, + 0.7950448579962532 + ], + "intensity": 12729.561991227996, + "width": 2.4046607989358737, + "height": 1.6772641598262963 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.7350425970318186, + -1.045325629609158, + 2.5265779836312405 + ], + "ori": [ + 31.168656827367926, + -9.521845350298594, + -26.79380022671537 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5539.692625307267, + "color": [ + 0.956519928023879, + 0.7842427476366339, + 0.8645295560389044 + ], + "intensity": 9008.708041954409, + "radius": 0.10435711177311198 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1147.3060942198235, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141025543212891, + -1.719397783279419, + 2.0904994010925293, + -1.9419012069702148, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.762029230594635, + -1.2715835571289062, + 2.0625669956207275, + -2.3617355823516846, + -1.5707963705062866, + 2.3178977966308594, + 0.018000047653913498, + 0.017999952659010887 + ], + [ + 1.001391053199768, + -1.3155354261398315, + 2.2104203701019287, + -2.4656286239624023, + -1.570819616317749, + 2.4696855545043945, + 0.018000055104494095, + 0.01799994334578514 + ], + [ + 0.9141013622283936, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -2.442258073222979e-38, + 2.97718246224232e-38, + 2.7947636702340584e-38, + 4.5719288343206525e-37, + -5.715706756220798e-37, + -7.685524002637048e-38, + 2.5990400942532688e-08, + -2.5990388508034812e-08 + ], + [ + -0.00015790059114806354, + 0.01586792804300785, + 0.007229585200548172, + -0.021756110712885857, + -1.0431664122734219e-05, + -2.090453199343756e-05, + -7.1617114372202195e-06, + 7.1368267526850104e-06 + ], + [ + -0.00011263709893682972, + 0.019037211313843727, + 0.0065214247442781925, + -0.02431151457130909, + 5.9778112699859776e-06, + 1.3126808880770113e-05, + -7.755340448056813e-06, + 7.756793820590246e-06 + ], + [ + -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": [ + [ + 0.0518779382109642, + -0.00019475541193969548, + -0.03132389858365059, + -0.27503669261932373, + 0.6601259112358093, + 0.6395646333694458, + -0.28203845024108887 + ], + [ + 0.05044219270348549, + 0.00026408402482047677, + -0.03525431454181671, + -0.2901998460292816, + 0.6428053975105286, + 0.649259626865387, + -0.28468793630599976 + ], + [ + 0.04903509095311165, + -0.002020473824813962, + -0.03172815963625908, + -0.28598251938819885, + 0.6390221118927002, + 0.661287784576416, + -0.2693755030632019 + ], + [ + 0.04754891246557236, + -0.0004279366694390774, + -0.027997858822345734, + -0.2831780016422272, + 0.6449016332626343, + 0.6473301649093628, + -0.29133445024490356 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e002/wrist.mp4 b/episodes/c5_p002_e002/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..01d8ab910261d5074aa81cbe094096f09ab3522e --- /dev/null +++ b/episodes/c5_p002_e002/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:734e8e2373b0e274120d82995d8e73303475ba965ee0e4e340fa2ba445f4c462 +size 7095918 diff --git a/episodes/c5_p002_e003/data.npz b/episodes/c5_p002_e003/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..867c1b919ef24378bc19c952d76f9f1cac3c9ce5 --- /dev/null +++ b/episodes/c5_p002_e003/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d28c14a74adca097cc39cc43df39b5e07ff9e8b3ad65081e196f81366b3f79f9 +size 204571 diff --git a/episodes/c5_p002_e003/device_events.jsonl b/episodes/c5_p002_e003/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b387ab8ab3aaff8b3e389ad3d7c0a4b4b4ace6e6 --- /dev/null +++ b/episodes/c5_p002_e003/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 167, "t": 0.835, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 167, "t": 0.835, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 172, "t": 0.86, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 5711, "t": 28.555, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6324, "t": 31.62, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 6, "step": 6324, "t": 31.62, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.77404720678485}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6324, "t": 31.62, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 8, "step": 6324, "t": 31.62, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 6324, "t": 31.62, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 6743, "t": 33.715, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 6743, "t": 33.715, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 6743, "t": 33.715, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 6743, "t": 33.715, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 6743, "t": 33.715, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 6743, "t": 33.715, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 6743, "t": 33.715, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 17, "step": 6743, "t": 33.715, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 6743, "t": 33.715, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.77404720678485}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7698, "t": 38.49, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 7698, "t": 38.49, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.775000000002443}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7698, "t": 38.49, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.775000000002443}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7698, "t": 38.49, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 23, "step": 7698, "t": 38.49, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 7698, "t": 38.49, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 8118, "t": 40.59, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 8118, "t": 40.59, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.699372085388177e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8118, "t": 40.59, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.699372085388177e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8118, "t": 40.59, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8118, "t": 40.59, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8118, "t": 40.59, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8698, "t": 43.49, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 10928, "t": 54.64, "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": 33, "step": 10928, "t": 54.64, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10928, "t": 54.64, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10928, "t": 54.64, "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/c5_p002_e003/env.mp4 b/episodes/c5_p002_e003/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c7bac1c99d44adf01ecf315962b0329bc5ce4986 --- /dev/null +++ b/episodes/c5_p002_e003/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b3cf6de14a5bc5f421f6b44850284e9ab135e6ed9a0fac0e253c99126c6e28e +size 1413788 diff --git a/episodes/c5_p002_e003/meta.json b/episodes/c5_p002_e003/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..58a6ed090848a9eeb46e19c951f4b806e6674e2a --- /dev/null +++ b/episodes/c5_p002_e003/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/3", + "fps": 25, + "frames": 1325, + "kept_ticks": "even", + "video_frames": { + "wrist": 1325, + "env": 1325 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e003/scene_snapshot.json b/episodes/c5_p002_e003/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..361b9d472e1833a4096fce7238015686101ba89a --- /dev/null +++ b/episodes/c5_p002_e003/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 3, + "env_id": 2, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48097991943359375, + 0.1065673828125, + 0.8999999761581421 + ], + "ori": [ + 0.726047158241272, + 0.0, + 0.0, + -0.687644898891449 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.00924975841854e-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": 0.231089578900173, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1585636161554859, + "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": 0.231089578900173, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.00812530517578125, + 0.4472980499267578, + 0.8999999761581421 + ], + "ori": [ + 0.9999535083770752, + 6.215832848432967e-10, + 5.275856418407443e-10, + 0.009651320055127144 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2444273389533578e-09, + 1.2045715536146417e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.7182152589612087e-08, + -1.1063004734523929e-07, + 5.566812788515563e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.602630615234375, + 1.039261817932129, + 0.8999999761581421 + ], + "ori": [ + 0.39978379011154175, + 4.5141668181258865e-10, + 5.9939746499537705e-09, + 0.916609525680542 + ], + "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": [ + -1.898056822824401e-08, + -5.859985918732491e-08, + 2.2351741790771484e-07 + ], + "angular_velocity": [ + 4.184035788057372e-06, + -1.2688219896972441e-07, + 2.979198825414642e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.220834732055664, + 1.1016807556152344, + 0.8999999761581421 + ], + "ori": [ + -0.24761319160461426, + 6.1163689224486e-08, + 7.177735028562893e-08, + 0.9688589572906494 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.437889084523249e-09, + -4.5512251745094545e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + -2.788105035733679e-08, + 3.73211605619872e-07, + 6.005943475884123e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.47521495819091797, + 1.1527080535888672, + 0.8999999761581421 + ], + "ori": [ + -0.010151323862373829, + 5.096091104661582e-09, + 1.210891387160018e-09, + 0.9999485611915588 + ], + "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": [ + -1.0322143140228945e-10, + -4.1501402314736424e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.1704514690791257e-07, + -5.3374250796878187e-08, + 1.530777815617057e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -0.0077972412109375, + 0.4383697509765625, + 0.9179999828338623 + ], + "ori": [ + 0.9986845850944519, + -9.655827248877813e-10, + 2.363496509616425e-09, + 0.05127587914466858 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.614402288576457e-08, + 1.4941440085181057e-08, + 9.685754776000977e-08 + ], + "angular_velocity": [ + -2.749250143097015e-07, + -1.7022408655975596e-06, + 1.9413164409343153e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.6112241744995117, + 1.0345726013183594, + 0.9180000424385071 + ], + "ori": [ + 0.3637036085128784, + 9.798525724136198e-08, + 3.8171404526110564e-07, + 0.9315147995948792 + ], + "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": [ + -1.2351482610029052e-06, + -9.272478564525954e-06, + -5.926936864852905e-06 + ], + "angular_velocity": [ + 6.817144458182156e-05, + -5.7284836657345295e-05, + 5.3434327128343284e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -1.2326908111572266, + 1.0974664688110352, + 0.9180000424385071 + ], + "ori": [ + -0.16319052875041962, + 5.3539224609266967e-08, + 7.61908012236745e-08, + 0.9865946173667908 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.781075967410288e-08, + 4.5039573848271175e-08, + -5.520880222320557e-06 + ], + "angular_velocity": [ + -1.1165506066390662e-06, + 2.8098861548642162e-06, + 2.7330708007866633e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.48478126525878906, + 1.1449518203735352, + 0.9179999828338623 + ], + "ori": [ + 0.032628025859594345, + 6.065634217122806e-09, + 2.655304864873642e-09, + 0.9994676113128662 + ], + "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": [ + 2.976098301132879e-08, + 4.7184087748064485e-08, + -1.5757977962493896e-06 + ], + "angular_velocity": [ + -2.2833589810034027e-06, + 1.6794837165434728e-06, + 4.386188123817192e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 1.8399999999999828, + "step": 368, + "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": 1.00924975841854e-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": 0.231089578900173, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 200, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.15812531113624573, + -0.0027019381523132324, + 0.0 + ], + "carrier_2": [ + 1.4526306092739105, + 0.5892618298530579, + 0.0 + ], + "carrier_3": [ + -1.3708347380161285, + 0.6516807675361633, + 0.0 + ], + "carrier_4": [ + 0.3252149522304535, + 0.7027080655097961, + 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": [ + -0.09190359788923053, + 0.3877097561574113, + 2.938850935820934 + ], + "ori": [ + 13.604516060106747, + -11.729807534569002, + -3.7708067158953895 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5155.48228209703, + "color": [ + 0.831202812171726, + 0.9300398097427272, + 0.8200206412257155 + ], + "intensity": 5032.355243837303, + "width": 1.5854930016810378, + "height": 1.1427319906241007 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.2318986427677956, + -0.6421378310066389, + 1.7560140467083263 + ], + "ori": [ + 28.599623324702634, + 32.1955225831298, + 13.30392967534167 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6050.314465882062, + "color": [ + 0.9811932195275144, + 0.8462572108970338, + 0.9755226042580541 + ], + "intensity": 9977.106044244774, + "radius": 0.05354251317432366 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1147.3060942198235, + "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": [ + [ + 0.052509985864162445, + 0.0007238974212668836, + -0.032069142907857895, + -0.2755674421787262, + 0.6557862758636475, + 0.6389607787132263, + -0.2928071916103363 + ], + [ + 0.04750131815671921, + -0.001082289032638073, + -0.030694978311657906, + -0.2938132584095001, + 0.6374672055244446, + 0.6539788842201233, + -0.2821718454360962 + ], + [ + 0.05091431364417076, + 0.001995001919567585, + -0.0330219641327858, + -0.28109660744667053, + 0.6382850408554077, + 0.662440299987793, + -0.273404061794281 + ], + [ + 0.047997064888477325, + 0.0009523106273263693, + -0.02564391680061817, + -0.283517986536026, + 0.6468059420585632, + 0.6480516791343689, + -0.2851116359233856 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e003/wrist.mp4 b/episodes/c5_p002_e003/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..78fbda98d0426cbbff255c4837be53c8ebc39eb1 --- /dev/null +++ b/episodes/c5_p002_e003/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3dfead07e3097c75a63338f05f6898d71c6e0e26cd4ea532bfc7797259df6a9 +size 7339994 diff --git a/episodes/c5_p002_e004/data.npz b/episodes/c5_p002_e004/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..3b4e2336b3485585f7b103410d73c8ee3a8c9c35 --- /dev/null +++ b/episodes/c5_p002_e004/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57791dbc4428b8e23b80ba7e1969616857e3864f292f561768cf2a8b05ae4421 +size 187366 diff --git a/episodes/c5_p002_e004/device_events.jsonl b/episodes/c5_p002_e004/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec2bf912ebbbc9f13e8c6592c83f1493a9058e19 --- /dev/null +++ b/episodes/c5_p002_e004/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 104, "t": 0.52, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 104, "t": 0.52, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 109, "t": 0.545, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 5623, "t": 28.115, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6236, "t": 31.18, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 6236, "t": 31.18, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.701899374518902}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6236, "t": 31.18, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 6236, "t": 31.18, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6236, "t": 31.18, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 6655, "t": 33.275, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 6655, "t": 33.275, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 6655, "t": 33.275, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 6655, "t": 33.275, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 6655, "t": 33.275, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 6655, "t": 33.275, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 6655, "t": 33.275, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 6655, "t": 33.275, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 6655, "t": 33.275, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.701899374518902}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7196, "t": 35.98, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7196, "t": 35.98, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.705000000001384}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7196, "t": 35.98, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.705000000001384}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7196, "t": 35.98, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 7196, "t": 35.98, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7196, "t": 35.98, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 7616, "t": 38.08, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 7616, "t": 38.08, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 9.981343529474884e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 7616, "t": 38.08, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 9.981343529474884e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 7616, "t": 38.08, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 7616, "t": 38.08, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 7616, "t": 38.08, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8195, "t": 40.975, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 9952, "t": 49.76, "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": 33, "step": 9952, "t": 49.76, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 9952, "t": 49.76, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 9952, "t": 49.76, "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/c5_p002_e004/env.mp4 b/episodes/c5_p002_e004/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2ac20d770f7c85b0cad54605b35828b0b96e0ea7 --- /dev/null +++ b/episodes/c5_p002_e004/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5c2e60c2934e0e14b0ba47e139ec93c440b76a3ee60b4e77ed2c66adbba51f9 +size 1264995 diff --git a/episodes/c5_p002_e004/meta.json b/episodes/c5_p002_e004/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..405f8a0ffe8ed3313e7f0dfa61690ba53f5ac49b --- /dev/null +++ b/episodes/c5_p002_e004/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/4", + "fps": 25, + "frames": 1220, + "kept_ticks": "even", + "video_frames": { + "wrist": 1220, + "env": 1220 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e004/scene_snapshot.json b/episodes/c5_p002_e004/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..346ac285950849b2d85b657db17255c3f0e3525e --- /dev/null +++ b/episodes/c5_p002_e004/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 4, + "env_id": 3, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5256032943725586, + 0.08841419219970703, + 0.8999999761581421 + ], + "ori": [ + 0.7292097806930542, + 0.0, + 0.0, + -0.6842902302742004 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.382665233671924e-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": 0.2653638379139784, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.19902747192574377, + "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": 0.2653638379139784, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.049271583557128906, + 0.4500131607055664, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -2.091701478690311e-09, + 2.358375494893039e-09, + -0.0002130053035216406 + ], + "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": [ + -4.888334181885057e-11, + 1.3492429395967065e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -8.142284002587985e-08, + -1.1262370591680337e-08, + 1.2425793727288692e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.369795799255371, + 0.4526100158691406, + 0.8999999761581421 + ], + "ori": [ + 0.9996936321258545, + -4.6246928508963947e-10, + 9.80484760049194e-09, + 0.024754848331212997 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.7256535634355714e-09, + 3.7925462770260765e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -2.0290029567604506e-07, + 2.9746695417998126e-07, + -1.315115127908939e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.9892768859863281, + 1.150141716003418, + 0.8999999761581421 + ], + "ori": [ + -0.0009953138651326299, + 8.727786493523126e-09, + -7.497925835764363e-09, + 0.9999995231628418 + ], + "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": [ + 8.548992624923812e-10, + 3.4640825763432304e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.334270223196654e-07, + 9.099382936028633e-08, + -1.70176157610058e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5010738372802734, + 1.1528263092041016, + 0.8999999761581421 + ], + "ori": [ + -0.00764855183660984, + 9.568304482066026e-12, + -1.4968777328761007e-09, + 0.9999707937240601 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2704631791038423e-09, + 2.9313194094271466e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.3459096237511403e-07, + 9.064332573416323e-08, + -2.8423793096976624e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -0.036102294921875, + 0.44895267486572266, + 0.9179999828338623 + ], + "ori": [ + 0.9985942840576172, + -1.7921286676880754e-09, + 1.2586294229066652e-09, + 0.05300462990999222 + ], + "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": [ + -3.680872495692711e-08, + 3.7088634385895602e-09, + 8.940696716308594e-08 + ], + "angular_velocity": [ + -1.3509619201101941e-08, + -1.6756516743043903e-06, + 1.9722264710253512e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 1.365316390991211, + 0.4643878936767578, + 0.9180000424385071 + ], + "ori": [ + 0.9941996932029724, + -7.414194258537066e-10, + 1.0559718433000853e-08, + 0.107550710439682 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.1078010448150053e-08, + 1.8958379754963062e-08, + -4.86522912979126e-06 + ], + "angular_velocity": [ + 1.791432850950514e-06, + -1.2417982588885934e-06, + -1.9059746136917965e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -0.9994897842407227, + 1.146841049194336, + 0.9180000424385071 + ], + "ori": [ + -0.08381009846925735, + 6.795974005768812e-09, + -1.5210140702492936e-08, + 0.996481716632843 + ], + "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": [ + 4.0391753941548814e-08, + 5.3868351557184724e-08, + -4.526227712631226e-06 + ], + "angular_velocity": [ + -4.7349690248665866e-06, + 2.362241048103897e-06, + 1.7112012073994265e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.5073146820068359, + 1.1526203155517578, + 0.9179999828338623 + ], + "ori": [ + -0.10287267714738846, + 5.340660691466326e-10, + -1.0908129954856349e-10, + 0.9946945905685425 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.586108807799974e-08, + 6.987085043874686e-08, + -1.7546117305755615e-06 + ], + "angular_velocity": [ + -1.693206058916985e-06, + 2.0780323666258482e-06, + 8.865411871283868e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 1.119999999999998, + "step": 224, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.382665233671924e-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": 0.2653638379139784, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 119, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.19927158951759338, + 1.3172626495361328e-05, + 0.0 + ], + "carrier_2": [ + 1.2197957932949066, + 0.00261002779006958, + 0.0 + ], + "carrier_3": [ + -1.1392768919467926, + 0.7001417279243469, + 0.0 + ], + "carrier_4": [ + 0.35107383131980896, + 0.7028263211250305, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.33721219261940283, + 0.38946957373372415, + 2.7523013642383534 + ], + "ori": [ + -8.36832432310009, + -2.7083110409109192, + 28.196906634932127 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3848.9555536598027, + "color": [ + 0.9758320334364845, + 0.9514738844562339, + 0.9522922181987588 + ], + "intensity": 13549.582314015031, + "width": 2.6483116675576257, + "height": 1.441325406448072 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.712655678011589, + 0.030539638131314994, + 2.283063917966637 + ], + "ori": [ + -35.01945447491451, + 2.3944286971426436, + -4.613799018990321 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7378.019545047513, + "color": [ + 0.9134206658866945, + 0.8062176020654537, + 0.9548060467631574 + ], + "intensity": 3644.646477656695, + "radius": 0.07560164318776182 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 669.5850538874914, + "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 + ], + [ + 0.9141042232513428, + -1.7193955183029175, + 2.090498208999634, + -1.941900610923767, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.914100170135498, + -1.7193982601165771, + 2.0904998779296875, + -1.9419008493423462, + -1.5707999467849731, + 2.4848999977111816, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 5.108946879772702e-06, + -6.811888852098491e-06, + 6.811961156927282e-06, + -5.356058681966168e-14, + 3.3381914040734456e-14, + 1.1518388239734056e-12, + 2.599039561346217e-08, + -2.5990559038291394e-08 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 2.882488877736492e-38, + -1.6181449175239967e-38, + -2.606653644642788e-38, + -5.2449359408719125e-37, + 2.0540842735164843e-37, + -2.8989138894004133e-37, + 2.5990388508034812e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05256682261824608, + 0.0023287844378501177, + -0.03273770585656166, + -0.2808680832386017, + 0.6545915603637695, + 0.6430003046989441, + -0.2813780903816223 + ], + [ + 0.04952526092529297, + -0.001035750494338572, + -0.030443649739027023, + -0.2922796607017517, + 0.6392593383789062, + 0.653647243976593, + -0.2804734408855438 + ], + [ + 0.05330716446042061, + -0.0022278171963989735, + -0.030905121937394142, + -0.2795179784297943, + 0.6394871473312378, + 0.6628463268280029, + -0.2712205946445465 + ], + [ + 0.04872238263487816, + -0.001841997029259801, + -0.026648543775081635, + -0.29143357276916504, + 0.6426610946655273, + 0.6484979391098022, + -0.2854883670806885 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e004/wrist.mp4 b/episodes/c5_p002_e004/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2fd6fb005db27b315df3281e97ac4e041d2c724a --- /dev/null +++ b/episodes/c5_p002_e004/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98a6b10cb585a5809bb57a9deaebc03edb295fd941d8748a51e3799b6d66acf0 +size 7441113 diff --git a/episodes/c5_p002_e005/data.npz b/episodes/c5_p002_e005/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..3bdd422dae478f23234b5671b3329902e1ab5830 --- /dev/null +++ b/episodes/c5_p002_e005/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0114d009466d99a5ce6ddb7255879ab21c42c3bbdeaeab8bf41a37f153097f2e +size 202328 diff --git a/episodes/c5_p002_e005/device_events.jsonl b/episodes/c5_p002_e005/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..332076e0282b3b21319f18868b1d542736865e52 --- /dev/null +++ b/episodes/c5_p002_e005/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 123, "t": 0.615, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 123, "t": 0.615, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 128, "t": 0.64, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6475, "t": 32.375, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7088, "t": 35.44, "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": 7088, "t": 35.44, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.328901227497279}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7088, "t": 35.44, "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": 7088, "t": 35.44, "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": 7088, "t": 35.44, "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": 7507, "t": 37.535, "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": 7507, "t": 37.535, "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": 7507, "t": 37.535, "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": 7507, "t": 37.535, "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": 7507, "t": 37.535, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7507, "t": 37.535, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7507, "t": 37.535, "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": 7507, "t": 37.535, "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": 7507, "t": 37.535, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.328901227497279}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7973, "t": 39.865, "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": 7973, "t": 39.865, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.330000000001192}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7973, "t": 39.865, "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": 2.330000000001192}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7973, "t": 39.865, "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": 7973, "t": 39.865, "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": 7973, "t": 39.865, "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": 8393, "t": 41.965, "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": 8393, "t": 41.965, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8393, "t": 41.965, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8393, "t": 41.965, "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": 8393, "t": 41.965, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8393, "t": 41.965, "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": 8974, "t": 44.87, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 11216, "t": 56.08, "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": 11216, "t": 56.08, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11216, "t": 56.08, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11216, "t": 56.08, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p002_e005/env.mp4 b/episodes/c5_p002_e005/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3f6888fb55e87561d3f1d5cb5855134fdb39e576 --- /dev/null +++ b/episodes/c5_p002_e005/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0f098d5673ea20b8edb57f289b68c202468db76673bad1335d6dc0de0120f23 +size 1415784 diff --git a/episodes/c5_p002_e005/meta.json b/episodes/c5_p002_e005/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..129d750c40ce116652385f2204b0142041f9e61d --- /dev/null +++ b/episodes/c5_p002_e005/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/5", + "fps": 25, + "frames": 1241, + "kept_ticks": "even", + "video_frames": { + "wrist": 1241, + "env": 1241 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e005/scene_snapshot.json b/episodes/c5_p002_e005/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..607ded851d44aa6c82f115a55c98ee063c3121f2 --- /dev/null +++ b/episodes/c5_p002_e005/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 5, + "env_id": 1, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.0092504089398435e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.18225405906348602, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.22651582226265465, + "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": 0.18225405906348602, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1918487548828125, + 1.1167240142822266, + 0.8999999761581421 + ], + "ori": [ + -0.20611482858657837, + -3.011293614463284e-08, + 1.107907436903588e-07, + 0.9785279035568237 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.7116465456676906e-10, + 1.5026784261351622e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.0202951727933396e-07, + -3.5644497131670505e-08, + 5.222320798026203e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.17496109008789062, + 1.1499948501586914, + 0.8999999761581421 + ], + "ori": [ + 2.503583709767554e-05, + 1.9323854516528627e-08, + 8.706733112262555e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.536529013028257e-10, + 4.954647803145917e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -4.310482282221528e-08, + -6.125235785248151e-08, + -2.459898951201467e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.07596778869628906, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.763432733170589e-09, + -2.5179667378916193e-12, + -3.5872890293831006e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.1880686151831696e-10, + 5.437661432239338e-10, + 0.0 + ], + "angular_velocity": [ + -3.126696412891761e-08, + 1.8011821367736047e-08, + 1.8166254611706734e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.3221073150634766, + 0.4494457244873047, + 0.8999999761581421 + ], + "ori": [ + 0.9998323917388916, + -9.150985746941842e-09, + 7.0771015714399255e-09, + 0.018313204869627953 + ], + "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": [ + 4.2098802222056975e-10, + -8.211370250421623e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 2.470480069405312e-07, + 3.578996654596267e-08, + 2.992275227597929e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.1881256103515625, + 1.1241369247436523, + 0.9179999828338623 + ], + "ori": [ + -0.2389623075723648, + -2.5798723157777204e-08, + 1.1307329117471454e-07, + 0.9710288643836975 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.698976852068881e-08, + 4.059269897993545e-08, + 6.705522537231445e-08 + ], + "angular_velocity": [ + -9.1393553702801e-07, + 1.1991868404948036e-06, + 2.332702422336297e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.1742687225341797, + 1.14666748046875, + 0.9180000424385071 + ], + "ori": [ + 0.05011884123086929, + 1.9876321033507338e-08, + 8.878393131794837e-09, + 0.9987432956695557 + ], + "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": [ + 1.027456342228561e-09, + 1.530745308286896e-09, + -5.327165126800537e-06 + ], + "angular_velocity": [ + -6.044804763405409e-07, + 9.270371492675622e-07, + -5.907058309162494e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -0.06751441955566406, + 0.4584646224975586, + 0.9179999828338623 + ], + "ori": [ + 0.995425283908844, + -2.5254371927019292e-09, + 1.3832249234901894e-10, + 0.09554365277290344 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2296855089743985e-08, + 5.659129609369984e-09, + -5.669891834259033e-06 + ], + "angular_velocity": [ + 3.4454365049896296e-07, + -1.0795396292451187e-06, + 8.556583708241305e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.3290386199951172, + 0.44672393798828125, + 0.9179999828338623 + ], + "ori": [ + 0.9992796778678894, + -1.13693419123706e-08, + 7.769993537465325e-09, + -0.03794978931546211 + ], + "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": [ + -6.862313739475212e-08, + -6.905828087155896e-08, + 1.6391277313232422e-07 + ], + "angular_velocity": [ + 9.364434276903921e-07, + -3.1226375085680047e-06, + 1.2186787046175596e-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": 6.699999999999879, + "step": 1340, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 1.0092504089398435e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.18225405906348602, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1216, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.341848760843277, + 0.6667240262031555, + 0.0 + ], + "carrier_2": [ + 0.024961084127426147, + 0.6999948620796204, + 0.0 + ], + "carrier_3": [ + -0.22596779465675354, + 2.682209014892578e-06, + 0.0 + ], + "carrier_4": [ + 1.172107309103012, + -0.0005542635917663574, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.8663387724351398, + 0.2057790783420571, + 2.6403503636169945 + ], + "ori": [ + -6.993310875083495, + -8.996910125371866, + 24.782267206138883 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3835.1994642847344, + "color": [ + 0.8831902303975093, + 0.9430517146933315, + 0.9284882426772911 + ], + "intensity": 15791.382262591322, + "width": 1.6581378293444513, + "height": 0.8284328745913114 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.8989944920480688, + -1.1006218024336514, + 2.20797561491277 + ], + "ori": [ + -32.81301828570973, + 33.35424405210638, + 10.123079749187305 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3528.122720192925, + "color": [ + 0.9750365319440002, + 0.7514680331210347, + 0.9557267856717577 + ], + "intensity": 6164.855563973242, + "radius": 0.40841971891088824 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 669.5850538874914, + "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": [ + [ + 0.9141007661819458, + -1.719398021697998, + 2.0904994010925293, + -1.941900372505188, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141048192977905, + -1.7193970680236816, + 2.0904994010925293, + -1.941900610923767, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.0671637058258057, + -1.4012583494186401, + 2.1596128940582275, + -2.329105854034424, + -1.5707964897155762, + 2.5322227478027344, + 0.018000047653913498, + 0.017999950796365738 + ] + ], + "joint_vel": [ + [ + 5.108947334520053e-06, + -3.405958068469772e-06, + 6.811945695517352e-06, + 3.405974894121755e-06, + 4.3976953155444587e-13, + 1.1360534908633202e-12, + -2.212203402233992e-14, + 7.622184133859733e-13 + ], + [ + 2.6867787697941094e-38, + -1.8997728382095268e-38, + 1.941974342761133e-38, + -3.5941023174992866e-37, + 3.423031800974513e-37, + -2.3223354887446715e-36, + 5.2802383486162e-38, + -9.179231374451458e-38 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -7.767279021209106e-05, + 0.015859192237257957, + 0.008666162379086018, + -0.02329246513545513, + -7.3967516982520465e-06, + 1.9973931557615288e-05, + -6.970366939640371e-06, + 6.9718471422675066e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05228952318429947, + 0.0012156313750892878, + -0.03198877349495888, + -0.2726348638534546, + 0.6560012698173523, + 0.642659604549408, + -0.2869167923927307 + ], + [ + 0.04907482489943504, + -0.002190676983445883, + -0.03059626929461956, + -0.2927466034889221, + 0.6453605890274048, + 0.6487528681755066, + -0.2773604393005371 + ], + [ + 0.051525507122278214, + 0.0005929421749897301, + -0.029763154685497284, + -0.2837746739387512, + 0.6458958387374878, + 0.6543511152267456, + -0.2722409963607788 + ], + [ + 0.04792369529604912, + 0.00014638456923421472, + -0.02702854946255684, + -0.2878900170326233, + 0.6429641842842102, + 0.647381067276001, + -0.2908850610256195 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e005/wrist.mp4 b/episodes/c5_p002_e005/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3976f65eca32feda804cd4c6177c3b6d45759159 --- /dev/null +++ b/episodes/c5_p002_e005/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ecc04d42a251b4a0472275ded897da2b75fb42bf4204812e12bf0e582b43c2ef +size 8439856 diff --git a/episodes/c5_p002_e006/data.npz b/episodes/c5_p002_e006/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..7703cb599c03a6ae1427682863924e66a4a487ef --- /dev/null +++ b/episodes/c5_p002_e006/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f09eac54e449acbc1bfe62bebafd95f7838fd0b3e3f82316ffd074ac218a823c +size 186588 diff --git a/episodes/c5_p002_e006/device_events.jsonl b/episodes/c5_p002_e006/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be4b415f67945c3adc88f1e01b459b234a82ff0f --- /dev/null +++ b/episodes/c5_p002_e006/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 85, "t": 0.425, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 85, "t": 0.425, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 90, "t": 0.45, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1790, "t": 8.95, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6530, "t": 32.65, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 7140, "t": 35.7, "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": 7140, "t": 35.7, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.6607223045218529}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 7140, "t": 35.7, "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": 7140, "t": 35.7, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 10, "step": 7140, "t": 35.7, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 11, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7559, "t": 37.795, "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": 7559, "t": 37.795, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7559, "t": 37.795, "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": 7559, "t": 37.795, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 19, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.6607223045218529}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 7892, "t": 39.46, "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": 7892, "t": 39.46, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.6650000000008518}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7892, "t": 39.46, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.6650000000008518}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7892, "t": 39.46, "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": 7892, "t": 39.46, "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": 7892, "t": 39.46, "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": 8312, "t": 41.56, "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": 8312, "t": 41.56, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.851367993250147e-12}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8312, "t": 41.56, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.851367993250147e-12}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8312, "t": 41.56, "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": 8312, "t": 41.56, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8312, "t": 41.56, "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": 8891, "t": 44.455, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 10600, "t": 53.0, "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": 10600, "t": 53.0, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 10600, "t": 53.0, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10600, "t": 53.0, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p002_e006/env.mp4 b/episodes/c5_p002_e006/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..173a230c99df1d7d6e0c6b661c2ec4e38d00b9dd --- /dev/null +++ b/episodes/c5_p002_e006/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc08759a0a077029f9c9107855a2f9e1d3028d0a360e9a3a2ba63fb2a1339dc7 +size 1271730 diff --git a/episodes/c5_p002_e006/meta.json b/episodes/c5_p002_e006/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..670cbdd26674fa5e8d29e71cb1732e21a1bb2cfd --- /dev/null +++ b/episodes/c5_p002_e006/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/6", + "fps": 25, + "frames": 1165, + "kept_ticks": "even", + "video_frames": { + "wrist": 1165, + "env": 1165 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e006/scene_snapshot.json b/episodes/c5_p002_e006/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..6c2916c5530d98fc04b2d9052662a31f55f52b73 --- /dev/null +++ b/episodes/c5_p002_e006/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 6, + "env_id": 2, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48097991943359375, + 0.1065673828125, + 0.8999999761581421 + ], + "ori": [ + 0.726047158241272, + 0.0, + 0.0, + -0.687644898891449 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.018499950517949e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.289087012472208, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.29848917239128525, + "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": 0.289087012472208, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3963899612426758, + 0.8285207748413086, + 0.8999999761581421 + ], + "ori": [ + -0.6700893640518188, + 2.2456490000877238e-08, + 6.03598024895291e-08, + 0.7422804236412048 + ], + "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": [ + -2.1497480184873297e-10, + 1.9106480286801286e-10, + 0.0 + ], + "angular_velocity": [ + -1.5789069607308193e-08, + -4.94062426525943e-08, + -3.877380194694524e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.3666400909423828, + 0.4525938034057617, + 0.8999999761581421 + ], + "ori": [ + 0.9997386336326599, + 9.31404287030091e-09, + 6.292025034326798e-08, + 0.02286616712808609 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.87514181538529e-10, + 9.19950560174243e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -1.6972105498780365e-08, + 8.672660811726018e-08, + -5.527953206296843e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.14861488342285156, + 0.4500408172607422, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 9.134244471908914e-10, + 3.619097521667669e-10, + 0.0002617822610773146 + ], + "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": [ + 1.2453691411451473e-09, + 1.1791468912392133e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -3.180305441219389e-08, + 1.087762058205044e-07, + -2.2188300974335107e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5505008697509766, + 1.1532411575317383, + 0.8999999761581421 + ], + "ori": [ + -0.005942067597061396, + -6.304759492259393e-11, + -2.7268803881597137e-10, + 0.9999823570251465 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4027430328411583e-09, + 1.6206780362182371e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.25342467072187e-07, + 1.166758352155739e-07, + -7.192997308891336e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.4020404815673828, + 0.8212575912475586, + 0.9179999828338623 + ], + "ori": [ + -0.6733963489532471, + 2.3857568365315274e-08, + 6.339398339605395e-08, + 0.7392816543579102 + ], + "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": [ + 7.011871971940309e-09, + 3.560094441468209e-08, + 7.450580596923828e-08 + ], + "angular_velocity": [ + -1.8027525356956176e-06, + -2.203721436444539e-07, + 1.1089448292977977e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.3759183883666992, + 0.44666194915771484, + 0.9180000424385071 + ], + "ori": [ + 0.9989228248596191, + 1.0634715330581912e-08, + 6.52679261747835e-08, + -0.04640394076704979 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.446250230685564e-09, + 2.844542201785316e-08, + -5.114823579788208e-06 + ], + "angular_velocity": [ + -2.2003457615937805e-06, + -1.23895074466418e-06, + -8.838826914825404e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -0.1542673110961914, + 0.4468050003051758, + 0.9180000424385071 + ], + "ori": [ + 0.999613344669342, + 4.644991891122885e-10, + -1.8401175028159855e-10, + 0.027805544435977936 + ], + "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": [ + 5.644475997712561e-10, + 1.5366287797746736e-08, + -5.7220458984375e-06 + ], + "angular_velocity": [ + 4.359634147022007e-07, + -1.7365033500027494e-06, + -5.845987871566649e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.5427169799804688, + 1.1517791748046875, + 0.9179999828338623 + ], + "ori": [ + -0.08936626464128494, + 1.4330741038293127e-09, + 6.473819258445701e-10, + 0.9959987998008728 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1689008516668764e-07, + 5.5424763445444114e-08, + -1.166015863418579e-06 + ], + "angular_velocity": [ + -2.0671982383646537e-06, + 3.894788278557826e-06, + 1.1675795263954569e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 6.559999999999882, + "step": 1312, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 2.018499950517949e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.289087012472208, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1226, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5463899672031403, + 0.37852078676223755, + 0.0 + ], + "carrier_2": [ + 1.2166400849819183, + 0.002593815326690674, + 0.0 + ], + "carrier_3": [ + -0.29861488938331604, + 4.082918167114258e-05, + 0.0 + ], + "carrier_4": [ + 0.4005008637905121, + 0.7032411694526672, + 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 + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.23553934261031373, + -0.4180440657463963, + 3.117442178045673 + ], + "ori": [ + 3.3643342915909713, + 11.133440372593206, + -12.07639486055443 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5956.594543443729, + "color": [ + 0.8748830489988557, + 0.9522829728490754, + 0.8202490800717237 + ], + "intensity": 8027.969980849415, + "width": 2.008951303860158, + "height": 1.2650020747066917 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.3317149892606226, + 0.9141744812792265, + 1.7573282721804666 + ], + "ori": [ + -5.443962032783176, + 19.547568541829648, + 7.971495337266333 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3513.137122630266, + "color": [ + 0.9168876302805795, + 0.9945734031198343, + 0.8365065636681123 + ], + "intensity": 7222.218721845235, + "radius": 0.21540830786445314 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 669.5850538874914, + "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": [ + [ + 1.2940566539764404, + -1.3749204874038696, + 2.192079782485962, + -2.387913465499878, + -1.5707964897155762, + 2.6822216510772705, + 0.018000053241848946, + 0.01799994520843029 + ], + [ + 1.1524189710617065, + -1.4620126485824585, + 2.052640914916992, + -2.161303997039795, + -1.5706195831298828, + 2.531895399093628, + 0.007051579654216766, + 0.006888225674629211 + ], + [ + 0.9141041040420532, + -1.7193959951400757, + 2.0904972553253174, + -1.9419000148773193, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.071814775466919, + -1.5000993013381958, + 2.09271502494812, + -2.163421630859375, + -1.570773720741272, + 2.5369908809661865, + 0.0076381550170481205, + 0.006942072883248329 + ] + ], + "joint_vel": [ + [ + -7.066693797241896e-05, + 0.017357319593429565, + 0.007960876449942589, + -0.0240731630474329, + -8.108033398457337e-06, + 4.0355804230785e-05, + -7.838794772396795e-06, + 7.840603757358622e-06 + ], + [ + -0.00221550976857543, + -0.0012853867374360561, + -0.002406475832685828, + 0.00056773133110255, + -0.0026397821493446827, + -0.009757096879184246, + -0.00868848618119955, + -0.0018779889214783907 + ], + [ + 1.702981876405829e-06, + 3.4059371500916313e-06, + -9.397080336093211e-12, + -2.063657621523274e-12, + -3.405978077353211e-06, + 3.872560909098932e-13, + -6.149852762454833e-13, + 5.218165309572864e-13 + ], + [ + 0.007299363613128662, + -0.005915792193263769, + 0.0019019516184926033, + 0.003794539486989379, + -0.00022077839821577072, + 0.0064086574129760265, + -0.00880649033933878, + 0.00032926702988334 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05489109829068184, + 0.0032677659764885902, + -0.033285439014434814, + -0.2782265245914459, + 0.6596260070800781, + 0.6370120048522949, + -0.2858307361602783 + ], + [ + 0.046217650175094604, + -0.0019742618314921856, + -0.031713638454675674, + -0.2923186123371124, + 0.6407173871994019, + 0.6511823534965515, + -0.2828297019004822 + ], + [ + 0.05054224282503128, + 0.0013351142406463623, + -0.03308593109250069, + -0.28746920824050903, + 0.6442792415618896, + 0.6575334668159485, + -0.26441529393196106 + ], + [ + 0.049153704196214676, + -0.0009935296839103103, + -0.02520015835762024, + -0.2875474989414215, + 0.6443657279014587, + 0.6476624011993408, + -0.28747639060020447 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e006/wrist.mp4 b/episodes/c5_p002_e006/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..982557c1b521b2d5e83bd56c86ceed9b3ed12ed0 --- /dev/null +++ b/episodes/c5_p002_e006/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5ab41e4125cc0efc417123196e3b06b126093183d52cedb3cf63bf48f1a1f12 +size 6566532 diff --git a/episodes/c5_p002_e007/data.npz b/episodes/c5_p002_e007/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..ab82bc5eb58a5708145089ec8f26213b7d14abee --- /dev/null +++ b/episodes/c5_p002_e007/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab615b3a7f9dd30115476515a84e9185d94f85e0b7ec3128e56778e1e5775701 +size 193629 diff --git a/episodes/c5_p002_e007/device_events.jsonl b/episodes/c5_p002_e007/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1e8ccb39dd225d79d9c61466a2b1c4dc3c25f93b --- /dev/null +++ b/episodes/c5_p002_e007/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 38, "t": 0.19, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 38, "t": 0.19, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 43, "t": 0.215, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1893, "t": 9.465, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6794, "t": 33.97, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 7408, "t": 37.04, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7408, "t": 37.04, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.028882375863944}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 7408, "t": 37.04, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 9, "step": 7408, "t": 37.04, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 10, "step": 7408, "t": 37.04, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 11, "step": 7827, "t": 39.135, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 12, "step": 7827, "t": 39.135, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 7827, "t": 39.135, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7827, "t": 39.135, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 7827, "t": 39.135, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7827, "t": 39.135, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 7827, "t": 39.135, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 18, "step": 7827, "t": 39.135, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 19, "step": 7827, "t": 39.135, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.028882375863944}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 8633, "t": 43.165, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 21, "step": 8633, "t": 43.165, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.030000000002062}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8633, "t": 43.165, "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": 4.030000000002062}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 8633, "t": 43.165, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 24, "step": 8633, "t": 43.165, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 25, "step": 8633, "t": 43.165, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 26, "step": 9053, "t": 45.265, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 27, "step": 9053, "t": 45.265, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.3271733712016953e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 9053, "t": 45.265, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.3271733712016953e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 9053, "t": 45.265, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 9053, "t": 45.265, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 9053, "t": 45.265, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 9635, "t": 48.175, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 33, "step": 11360, "t": 56.8, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11360, "t": 56.8, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 11360, "t": 56.8, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 11360, "t": 56.8, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p002_e007/env.mp4 b/episodes/c5_p002_e007/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3cb40ed88346a90add204d96d6a1006aa87de7a5 --- /dev/null +++ b/episodes/c5_p002_e007/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89707001e333803dae58222f34e2764f095dc641fb8ab9ec9e90fba119465f7a +size 1277036 diff --git a/episodes/c5_p002_e007/meta.json b/episodes/c5_p002_e007/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ac5868a070529ca823b7a1c2502788a89ea5ac06 --- /dev/null +++ b/episodes/c5_p002_e007/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/7", + "fps": 25, + "frames": 1270, + "kept_ticks": "even", + "video_frames": { + "wrist": 1270, + "env": 1270 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e007/scene_snapshot.json b/episodes/c5_p002_e007/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..61c7ed883fea8ebbcba94db6bfdd9f495d6bda81 --- /dev/null +++ b/episodes/c5_p002_e007/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 7, + "env_id": 0, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.018499083156211e-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": 0.22381299788732759, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.28236201026974056, + "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": 0.22381299788732759, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3766040802001953, + 0.6769809722900391, + 0.8999999761581421 + ], + "ori": [ + -0.8212881088256836, + 1.6627861754159312e-08, + -5.1815032264812544e-08, + 0.5705136060714722 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.4167121082108167e-10, + -2.8662089368580723e-10, + 0.0 + ], + "angular_velocity": [ + 2.7870811436514487e-08, + -6.560537713085068e-08, + 7.392337408873573e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.13263511657714844, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -2.322742442828485e-09, + 1.9894048630675343e-09, + 3.401805224712007e-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": [ + 1.182694830959008e-09, + 8.987190991405214e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.494771417753782e-08, + 9.894120012177154e-08, + -2.0649402188155364e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.3653440475463867, + 0.45206451416015625, + 0.8999999761581421 + ], + "ori": [ + 0.9997850060462952, + -1.0942086348109115e-08, + 4.849252377425728e-08, + 0.020734764635562897 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5015432452969435e-08, + -8.735035805784719e-08, + -2.60770320892334e-08 + ], + "angular_velocity": [ + 1.8831611896530376e-06, + -1.8948978208754852e-07, + 6.997726700319618e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4745464324951172, + 1.150003433227539, + 0.8999999761581421 + ], + "ori": [ + 4.780345079780091e-06, + 8.79451095281425e-11, + 2.833648871103378e-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": [ + -3.1216265128364284e-09, + -4.089261373962927e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + 2.1864300947527227e-07, + -2.783263539640757e-07, + -4.4156063694344994e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -1.370589256286621, + 0.6672325134277344, + 0.9179999828338623 + ], + "ori": [ + -0.8045079708099365, + 2.1718669529491308e-08, + -5.175302320026276e-08, + 0.5939419865608215 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.0469291090184925e-08, + 6.163794097346909e-08, + 8.195638656616211e-08 + ], + "angular_velocity": [ + -1.3781373127130792e-06, + -1.7865239669845323e-06, + 7.295803072793206e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -0.14300060272216797, + 0.44436168670654297, + 0.9180000424385071 + ], + "ori": [ + 0.9958240985870361, + -1.5988095292129856e-09, + 1.9303740828036098e-09, + 0.09129274636507034 + ], + "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": [ + -2.45014541988553e-09, + 1.6523776125154654e-08, + -5.6438148021698e-06 + ], + "angular_velocity": [ + 7.705748430453241e-07, + -1.4128464727036771e-06, + -3.822981398116099e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.368194580078125, + 0.44329166412353516, + 0.9180000424385071 + ], + "ori": [ + 0.9981978535652161, + -4.870739189755113e-07, + 1.1594775628509524e-07, + 0.060009561479091644 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.4818584734020988e-06, + -1.0142341125174426e-05, + -7.5660645961761475e-06 + ], + "angular_velocity": [ + 6.940877938177437e-06, + -1.7885558918351308e-05, + -6.845856114523485e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.4816150665283203, + 1.1610736846923828, + 0.9179999828338623 + ], + "ori": [ + -0.021754460409283638, + 1.244610303707816e-09, + 1.6869279306774843e-09, + 0.9997634291648865 + ], + "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": [ + 1.2569493890168815e-08, + -5.3895533369541226e-08, + -1.12876296043396e-06 + ], + "angular_velocity": [ + 1.0267470997860073e-06, + 1.597815980858286e-06, + -9.383776244931141e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 6.19999999999989, + "step": 1240, + "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": 2.018499083156211e-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": 0.22381299788732759, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1201, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5266040861606598, + 0.22698098421096802, + 0.0 + ], + "carrier_2": [ + -0.2826351225376129, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_3": [ + 1.2153440415859222, + 0.002064526081085205, + 0.0 + ], + "carrier_4": [ + 0.3245464265346527, + 0.700003445148468, + 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": [ + 0.39959055706107416, + 0.29567346812137296, + 2.7749605805521553 + ], + "ori": [ + 9.269991362771915, + -10.028171781922865, + -4.193512908633931 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5894.170867044266, + "color": [ + 0.8765231054387485, + 0.9892125688573752, + 0.8755367547685482 + ], + "intensity": 8964.946857223717, + "width": 2.156214651576686, + "height": 1.2039936014212635 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.6222487615359369, + 1.153563837594256, + 2.576391540478769 + ], + "ori": [ + 9.753012163942387, + -28.576816163400558, + 6.832776448914537 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5021.648724101808, + "color": [ + 0.9069943594142909, + 0.8334274696588028, + 0.9659362088335812 + ], + "intensity": 8547.78462323402, + "radius": 0.15787869325392578 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 669.5850538874914, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141027331352234, + -1.7193986177444458, + 2.0904996395111084, + -1.9418998956680298, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.1521849632263184, + -1.2640001773834229, + 2.1642651557922363, + -2.471069097518921, + -1.5708256959915161, + 2.531461477279663, + 0.007260772865265608, + 0.006634263321757317 + ], + [ + 0.9141041040420532, + -1.7193961143493652, + 2.0904972553253174, + -1.9419001340866089, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.0676283836364746, + -1.4967238903045654, + 2.0914418697357178, + -2.165522336959839, + -1.5707772970199585, + 2.532454490661621, + 0.007638472598046064, + 0.006941758096218109 + ] + ], + "joint_vel": [ + [ + 3.4059639801853336e-06, + 1.8505419419057034e-11, + -6.8119388743070886e-06, + 3.441944212284609e-12, + -4.645254450194591e-13, + 5.720790052614333e-13, + -1.238766305245581e-13, + 3.421427366683688e-13 + ], + [ + 0.0002817457134369761, + -0.017985492944717407, + -0.006519749294966459, + 0.02195211872458458, + 0.001004009391181171, + 0.0039481548592448235, + -0.00845546368509531, + 0.00012520454765763134 + ], + [ + -2.8005129175734903e-38, + 1.646085687863862e-38, + 0.0, + 7.0843610199362125e-37, + -4.116311772668853e-37, + 4.629062799515858e-37, + 2.5990388508034812e-08, + -2.5990388508034812e-08 + ], + [ + 9.673402382759377e-05, + -1.9358769350219518e-05, + -0.00018629143596626818, + 0.0003362871357239783, + -0.00024129150551743805, + -0.0010582477552816272, + -0.008834169246256351, + 0.00030182808404788375 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05063370242714882, + 0.0014428220456466079, + -0.03182484209537506, + -0.27732717990875244, + 0.6560255885124207, + 0.6416630148887634, + -0.28458502888679504 + ], + [ + 0.049196187406778336, + -0.0006532279076054692, + -0.03185474872589111, + -0.29675522446632385, + 0.6460186839103699, + 0.6445879936218262, + -0.2812517285346985 + ], + [ + 0.05147959291934967, + 8.097470708889887e-05, + -0.03364943712949753, + -0.28301164507865906, + 0.6450138092041016, + 0.6588401794433594, + -0.2641802132129669 + ], + [ + 0.04906945675611496, + -0.002848544158041477, + -0.027619801461696625, + -0.2859591841697693, + 0.6446130871772766, + 0.6464608311653137, + -0.29118672013282776 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e007/wrist.mp4 b/episodes/c5_p002_e007/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..13f093e93c71396bafba879ba4229cc8ca8be507 --- /dev/null +++ b/episodes/c5_p002_e007/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11a7d9df25f352926dd838b279d0640cdc38824d7b422c6b90ac84c8ded56278 +size 7021891 diff --git a/episodes/c5_p002_e008/data.npz b/episodes/c5_p002_e008/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..cd5455153e0452b45c1971d93ae0f781c8c96e3c --- /dev/null +++ b/episodes/c5_p002_e008/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:830def848306d9fd4351a37232c5eb90b9a75c32384f306cd140d70451d74d34 +size 185801 diff --git a/episodes/c5_p002_e008/device_events.jsonl b/episodes/c5_p002_e008/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e02182c7aab5b742f045b14c8e7e0f6ef7d371cd --- /dev/null +++ b/episodes/c5_p002_e008/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 3, "seq": 1, "step": 47, "t": 0.235, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 47, "t": 0.235, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 52, "t": 0.26, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1123, "t": 5.615, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 1145, "t": 5.725, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 5670, "t": 28.35, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 6284, "t": 31.42, "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": 8, "step": 6284, "t": 31.42, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.0598032283065586}, "cause": "task-3-1"} +{"env_id": 3, "seq": 9, "step": 6284, "t": 31.42, "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": 10, "step": 6284, "t": 31.42, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 6284, "t": 31.42, "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": 12, "step": 6703, "t": 33.515, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 13, "step": 6703, "t": 33.515, "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": 14, "step": 6703, "t": 33.515, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 6703, "t": 33.515, "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": 16, "step": 6703, "t": 33.515, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 6703, "t": 33.515, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 18, "step": 6703, "t": 33.515, "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": 19, "step": 6703, "t": 33.515, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 6703, "t": 33.515, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.0598032283065586}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7115, "t": 35.575, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 22, "step": 7115, "t": 35.575, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.060000000001054}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 7115, "t": 35.575, "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": 2.060000000001054}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 24, "step": 7115, "t": 35.575, "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": 25, "step": 7115, "t": 35.575, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 7115, "t": 35.575, "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": 27, "step": 7535, "t": 37.675, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 28, "step": 7535, "t": 37.675, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.3657212027951005e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 7535, "t": 37.675, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.3657212027951005e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 7535, "t": 37.675, "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": 31, "step": 7535, "t": 37.675, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 32, "step": 7535, "t": 37.675, "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": 33, "step": 8115, "t": 40.575, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 34, "step": 9848, "t": 49.24, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 9848, "t": 49.24, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 36, "step": 9848, "t": 49.24, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 37, "step": 9848, "t": 49.24, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p002_e008/env.mp4 b/episodes/c5_p002_e008/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8bde874f19e45a9bd38f8f5728add71c7b9577c8 --- /dev/null +++ b/episodes/c5_p002_e008/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1581892efed460da5de4c0024cd0743d29a7d2b1822b69a3454ec7edcd1575d4 +size 1272408 diff --git a/episodes/c5_p002_e008/meta.json b/episodes/c5_p002_e008/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ba555cdfcfc6adb375146cf412fba8594517081e --- /dev/null +++ b/episodes/c5_p002_e008/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/8", + "fps": 25, + "frames": 1147, + "kept_ticks": "even", + "video_frames": { + "wrist": 1147, + "env": 1147 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e008/scene_snapshot.json b/episodes/c5_p002_e008/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..ddfa13f7fc3859cafa1ccd9c760815217296e1e8 --- /dev/null +++ b/episodes/c5_p002_e008/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 8, + "env_id": 3, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5256032943725586, + 0.08841419219970703, + 0.8999999761581421 + ], + "ori": [ + 0.7292097806930542, + 0.0, + 0.0, + -0.6842902302742004 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.0185006010392526e-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": 0.28385200452599474, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.09755060492323342, + "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": 0.28385200452599474, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5414543151855469, + 0.5106019973754883, + 0.8999999761581421 + ], + "ori": [ + 0.9594510793685913, + 1.697096330133263e-08, + 5.5735934978429214e-08, + 0.2818751931190491 + ], + "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": [ + 9.978076143113412e-10, + -7.908873556061735e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 2.5268141357059903e-08, + 7.90027741004451e-08, + 7.758272246860543e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.05222797393798828, + 0.4499988555908203, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.53915247214087e-09, + 2.8032407506373147e-09, + 5.198276085138787e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1872708371996055e-09, + 4.511485629521417e-11, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 2.5171011941438337e-08, + 1.0777038284004448e-07, + -1.057770404599978e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3192272186279297, + 1.0189971923828125, + 0.8999999761581421 + ], + "ori": [ + -0.4159546196460724, + -4.848950752034398e-08, + -1.976903796219176e-08, + 0.9093854427337646 + ], + "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": [ + -1.5373764483683772e-08, + 6.06535666136665e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.1402536159721421e-07, + -4.299624833947746e-07, + 2.559820018177561e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.04805564880371094, + 1.1500053405761719, + 0.8999999761581421 + ], + "ori": [ + 5.197064092499204e-05, + 2.8690333442327187e-10, + -4.561478306186473e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.9992430761183186e-10, + -2.8610647184734717e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.5987129131644906e-07, + 3.971813455905249e-08, + 3.6851948159721815e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.5361900329589844, + 0.5045299530029297, + 0.9179999828338623 + ], + "ori": [ + 0.9527687430381775, + 1.8097281895279593e-08, + 5.326183583065358e-08, + 0.30369699001312256 + ], + "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": [ + -9.062350869726288e-09, + -2.7485272724447896e-08, + 9.685754776000977e-08 + ], + "angular_velocity": [ + 1.8316814021090977e-06, + -8.941687497099338e-07, + 1.6959196713628444e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.03859233856201172, + 0.46000194549560547, + 0.9180000424385071 + ], + "ori": [ + 0.9997658729553223, + 1.4492986810665798e-09, + 1.9766328573922465e-09, + -0.02163822203874588 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.5658511698954953e-09, + -4.9089612375041725e-09, + -5.420297384262085e-06 + ], + "angular_velocity": [ + 1.6053792251113919e-06, + -1.9846036138915224e-06, + -6.973063904069932e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.3307523727416992, + 1.0215978622436523, + 0.9180000424385071 + ], + "ori": [ + -0.5086212754249573, + -4.8672969654717235e-08, + -1.743298483347644e-08, + 0.8609903454780579 + ], + "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": [ + -9.354515384529805e-09, + 1.0382857240642807e-08, + -5.912035703659058e-06 + ], + "angular_velocity": [ + -9.778935918802745e-07, + -1.7618653203044232e-08, + 1.9690131125571497e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -0.03789710998535156, + 1.1597185134887695, + 0.9179999828338623 + ], + "ori": [ + 0.061846137046813965, + 4.390489916072937e-10, + 1.793281967366056e-09, + 0.9980857968330383 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.92798646942083e-08, + -4.594401303847917e-08, + -1.0058283805847168e-06 + ], + "angular_velocity": [ + 1.2063728718203492e-06, + 1.4705104831591598e-06, + 1.109629863549344e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 3.4999999999999476, + "step": 700, + "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": 2.0185006010392526e-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": 0.28385200452599474, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 652, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.3914543092250824, + 0.060602009296417236, + 0.0 + ], + "carrier_2": [ + -0.0977720320224762, + -1.1324882507324219e-06, + 0.0 + ], + "carrier_3": [ + -1.4692272245883942, + 0.5689972043037415, + 0.0 + ], + "carrier_4": [ + -0.19805565476417542, + 0.7000053524971008, + 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": [ + -0.29149690515055793, + 0.1957292146376456, + 3.007836521003517 + ], + "ori": [ + -13.194745305519946, + 5.984842638471392, + -19.527905344096347 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6373.571836816098, + "color": [ + 0.8396784063431083, + 0.9244839137146004, + 0.8850521397268417 + ], + "intensity": 8343.816324794914, + "width": 1.4893347952509868, + "height": 0.9793434027303496 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.590037308446663, + -0.5554897375981703, + 1.8360296245622991 + ], + "ori": [ + -30.205761880735036, + 18.697163650241478, + 7.417444567288136 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6439.095331539911, + "color": [ + 0.999774035728448, + 0.9515837191777403, + 0.9036056626200859 + ], + "intensity": 9925.396976579961, + "radius": 0.2111772922509662 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 669.5850538874914, + "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": [ + [ + 1.2531769275665283, + -1.3366591930389404, + 2.278306484222412, + -2.5126044750213623, + -1.5704001188278198, + 2.8296940326690674, + 0.00764984218403697, + 0.007061618380248547 + ], + [ + 0.9141022562980652, + -1.7193987369537354, + 2.0904998779296875, + -1.9419009685516357, + -1.5707999467849731, + 2.48490047454834, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 1.2892085313796997, + -1.5538723468780518, + 2.1548171043395996, + -2.1714370250701904, + -1.5708701610565186, + 2.8599538803100586, + 0.017999965697526932, + 0.018000032752752304 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -2.473558924975805e-05, + 0.015939727425575256, + 0.004991013556718826, + -0.02033037319779396, + 3.364797885296866e-05, + 9.9087534181308e-05, + -0.007483233697712421, + 0.0002727300743572414 + ], + [ + -2.7145233583489693e-38, + 2.9974654167343433e-38, + 2.9235690632569455e-38, + 3.315584943092926e-37, + -7.1082261417185585e-37, + 2.6414108351805763e-37, + 5.1980798332351696e-08, + -5.1980773463355945e-08 + ], + [ + 0.00012916434206999838, + -0.013826973736286163, + -0.012318422086536884, + 0.0249006524682045, + -8.180912118405104e-06, + 2.0850835426244885e-05, + 6.191960892465431e-06, + -6.189766281750053e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.052865564823150635, + 0.0023116045631468296, + -0.03134498745203018, + -0.28366923332214355, + 0.6510048508644104, + 0.64451664686203, + -0.28341275453567505 + ], + [ + 0.049448251724243164, + 0.00020048038277309388, + -0.03130641579627991, + -0.29109057784080505, + 0.6428066492080688, + 0.6509184241294861, + -0.2799484431743622 + ], + [ + 0.05073879659175873, + 0.0007329086074605584, + -0.033242158591747284, + -0.27849215269088745, + 0.6456553936004639, + 0.6594887971878052, + -0.2657927870750427 + ], + [ + 0.04906104877591133, + -0.002754081739112735, + -0.028516119346022606, + -0.2822861075401306, + 0.6449953317642212, + 0.6474571228027344, + -0.29171022772789 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e008/wrist.mp4 b/episodes/c5_p002_e008/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ec4ccfa8597bb5f822664cacdac76d87b2b3c606 --- /dev/null +++ b/episodes/c5_p002_e008/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e75a5c9011a4f155268121f041f150ca366f8b88744c4809e203c73f0ab56fa +size 6236913 diff --git a/episodes/c5_p002_e009/data.npz b/episodes/c5_p002_e009/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..50480b2e42eecb841714fb0f1f8e2f19ad411369 --- /dev/null +++ b/episodes/c5_p002_e009/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0dbf158f7a77c462bde5b52e900e1c6c8ec2973a47c5f8cb006445f8081f5113 +size 187596 diff --git a/episodes/c5_p002_e009/device_events.jsonl b/episodes/c5_p002_e009/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c531c632ed5e10abae9e404c2433a01758fe4a63 --- /dev/null +++ b/episodes/c5_p002_e009/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 91, "t": 0.455, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 91, "t": 0.455, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 96, "t": 0.48, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6123, "t": 30.615, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6736, "t": 33.68, "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": 6736, "t": 33.68, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.854600414163818}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6736, "t": 33.68, "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": 6736, "t": 33.68, "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": 6736, "t": 33.68, "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": 7155, "t": 35.775, "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": 7155, "t": 35.775, "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": 7155, "t": 35.775, "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": 7155, "t": 35.775, "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": 7155, "t": 35.775, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7155, "t": 35.775, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7155, "t": 35.775, "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": 7155, "t": 35.775, "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": 7155, "t": 35.775, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.854600414163818}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7726, "t": 38.63, "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": 7726, "t": 38.63, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.8550000000014606}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7726, "t": 38.63, "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": 2.8550000000014606}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7726, "t": 38.63, "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": 7726, "t": 38.63, "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": 7726, "t": 38.63, "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": 8146, "t": 40.73, "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": 8146, "t": 40.73, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.566464818443137e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8146, "t": 40.73, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.566464818443137e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8146, "t": 40.73, "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": 8146, "t": 40.73, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8146, "t": 40.73, "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": 8726, "t": 43.63, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10468, "t": 52.34, "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": 10468, "t": 52.34, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10468, "t": 52.34, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10468, "t": 52.34, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p002_e009/env.mp4 b/episodes/c5_p002_e009/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7ed778a706850b2e8ccca474a64714b5ba3ef65c --- /dev/null +++ b/episodes/c5_p002_e009/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:353dbdba049773753132b74c79e588b1edfd4a7ef3320accd70aba08fadf37d1 +size 1288066 diff --git a/episodes/c5_p002_e009/meta.json b/episodes/c5_p002_e009/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4b565b3d937d65496da2c12f8d73563f4488d815 --- /dev/null +++ b/episodes/c5_p002_e009/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/9", + "fps": 25, + "frames": 1183, + "kept_ticks": "even", + "video_frames": { + "wrist": 1183, + "env": 1183 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e009/scene_snapshot.json b/episodes/c5_p002_e009/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..b242d258d2fd1aac588f137f7e97e4327f870ab3 --- /dev/null +++ b/episodes/c5_p002_e009/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 9, + "env_id": 1, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.17048803144684158, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.19348688488991161, + "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": 0.17048803144684158, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3814411163330078, + 0.9011363983154297, + 0.8999999761581421 + ], + "ori": [ + -0.5978848934173584, + 2.417529287868092e-08, + 7.236282328904053e-08, + 0.8015819787979126 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.6401220881998597e-07, + 1.1473465519884485e-06, + -2.678483724594116e-06 + ], + "angular_velocity": [ + -9.838225378189236e-05, + 3.0237770261010155e-05, + 8.836059350869618e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.027597427368164062, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + 9.631172360968776e-06, + -6.448869438457905e-09, + -1.623012124696288e-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": [ + 1.2018595896279294e-08, + 2.972135604295545e-08, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -4.435308710526442e-06, + 7.194350359895907e-07, + 5.746483680013625e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.04380607604980469, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 6.362449456176478e-10, + 2.290600153997957e-09, + 2.798337663989514e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.50570597393596e-10, + -4.0701997328085326e-11, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 9.186599925214978e-09, + -6.17447568629359e-08, + -2.2144019951042537e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6237707138061523, + 0.5865087509155273, + 0.8999999761581421 + ], + "ori": [ + 0.8993709087371826, + -1.4944756543400217e-08, + 5.953813797532348e-08, + 0.4371865689754486 + ], + "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": [ + -2.2238069163904584e-08, + 1.9280758323247937e-08, + -7.82310962677002e-08 + ], + "angular_velocity": [ + -2.571026470832294e-06, + -1.3917792784923222e-06, + 4.529027464172941e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.379530906677246, + 0.8897199630737305, + 0.9179999828338623 + ], + "ori": [ + -0.557238757610321, + 1.0398323979643465e-08, + 8.081907765244978e-08, + 0.8303523063659668 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.272623179233051e-07, + 2.563795533205848e-06, + -1.5981495380401611e-06 + ], + "angular_velocity": [ + -9.899034921545535e-05, + 2.9356422601267695e-05, + -3.4688150662987027e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -0.033832550048828125, + 1.1412744522094727, + 0.9180000424385071 + ], + "ori": [ + -0.005451146978884935, + -6.749053227395052e-08, + -1.1872046457028773e-07, + 0.9999852180480957 + ], + "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": [ + -3.2127849181051715e-07, + 4.397558768687304e-06, + -6.388872861862183e-06 + ], + "angular_velocity": [ + 3.776286575885024e-06, + -1.9195073036826216e-05, + -2.0442095774342306e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -0.048600196838378906, + 0.44582557678222656, + 0.9179999828338623 + ], + "ori": [ + 0.997454047203064, + 6.293225385256562e-10, + 2.671020293831816e-09, + 0.07131212204694748 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2870541965526172e-08, + 1.0752190249263549e-08, + -5.889683961868286e-06 + ], + "angular_velocity": [ + 1.8121596667697304e-07, + -1.1304413192192442e-06, + 9.170412340608891e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.6098079681396484, + 0.5874223709106445, + 0.9179999828338623 + ], + "ori": [ + 0.9108662009239197, + 7.914983370937989e-07, + 2.166594867958338e-07, + 0.41270169615745544 + ], + "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": [ + -3.802963647103752e-06, + 2.6972147679771297e-06, + 7.82310962677002e-08 + ], + "angular_velocity": [ + -0.0001032074069371447, + -8.176162373274565e-05, + 2.8844324333476834e-06 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 5.27999999999991, + "step": 1056, + "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": 0.17048803144684158, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 964, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5314411222934723, + 0.45113641023635864, + 0.0 + ], + "carrier_2": [ + -0.17759743332862854, + 0.6999977231025696, + 0.0 + ], + "carrier_3": [ + -0.19380608201026917, + 2.682209014892578e-06, + 0.0 + ], + "carrier_4": [ + 1.4737707078456879, + 0.1365087628364563, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.24650289339076692, + -0.21379433564061057, + 2.636285740666319 + ], + "ori": [ + 1.7684214968850647, + 8.436001583538257, + -8.41921669686461 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4602.128890437882, + "color": [ + 0.919069360259266, + 0.8850113647531939, + 0.9466203905780588 + ], + "intensity": 4632.120930122229, + "width": 2.3045071284210144, + "height": 0.8154133767600886 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.7370271351438764, + -0.4162109978766847, + 2.0035828731817156 + ], + "ori": [ + -14.166366598583771, + -2.0499428084461613, + -8.931431967461265 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5012.887528060493, + "color": [ + 0.7614179945983451, + 0.8168232899735248, + 0.8909807148652484 + ], + "intensity": 5182.516814828537, + "radius": 0.20749843206685237 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1418.1457821093886, + "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 + ], + [ + 0.9141027331352234, + -1.7193983793258667, + 2.0904998779296875, + -1.9419009685516357, + -1.5707999467849731, + 2.48490047454834, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 0.9141018986701965, + -1.7193994522094727, + 2.0904998779296875, + -1.9419002532958984, + -1.5707999467849731, + 2.484900712966919, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.9194115996360779, + -1.4290939569473267, + 2.08925199508667, + -2.2310144901275635, + -1.5707675218582153, + 2.5336098670959473, + 0.007749064359813929, + 0.007108225487172604 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 2.759374718296614e-38, + -2.918147439498473e-38, + -1.8471924764520525e-38, + -3.2228328856353893e-37, + 6.391311085397776e-37, + -2.0553636029624743e-37, + 5.19807308307918e-08, + -5.198079477963802e-08 + ], + [ + -2.845269830004639e-38, + 0.0, + 0.0, + 4.126063016318519e-37, + -1.2205556252798878e-38, + 3.7325929810401397e-37, + -2.5990376073536936e-08, + 2.5990388508034812e-08 + ], + [ + 0.000258504442172125, + -0.014475242234766483, + -0.010726640932261944, + 0.02413485012948513, + -0.0003590681008063257, + -0.0015159451868385077, + -0.00782952830195427, + 0.0003622606454882771 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05294037237763405, + 0.0037497717421501875, + -0.029969967901706696, + -0.27780210971832275, + 0.6542004942893982, + 0.6424795985221863, + -0.2864745557308197 + ], + [ + 0.049300361424684525, + 0.0001714630489004776, + -0.030218685045838356, + -0.29563623666763306, + 0.6438114643096924, + 0.6476295590400696, + -0.28050315380096436 + ], + [ + 0.052359439432621, + 0.0018060666043311357, + -0.031626585870981216, + -0.28204503655433655, + 0.6410499215126038, + 0.6602455377578735, + -0.2712588906288147 + ], + [ + 0.049420058727264404, + -0.0030328065622597933, + -0.027431664988398552, + -0.2841823101043701, + 0.6424927711486816, + 0.651420533657074, + -0.286521852016449 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e009/wrist.mp4 b/episodes/c5_p002_e009/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..aad4014a8ce80a8fd37715d4e073b616c2659be8 --- /dev/null +++ b/episodes/c5_p002_e009/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33f74a6d2319bfd51bdf468286a0c8fa71f800e3792df9a7e2ea6fc66a2d36dc +size 8284437 diff --git a/episodes/c5_p002_e010/data.npz b/episodes/c5_p002_e010/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..34884f1860be606573c3db2b753acb2e035bcc09 --- /dev/null +++ b/episodes/c5_p002_e010/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:722cbbe020e37ec70245fd65ceb1ddc579032e96a3a37da19907ed856d3a846c +size 193423 diff --git a/episodes/c5_p002_e010/device_events.jsonl b/episodes/c5_p002_e010/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..283660a2b058b11b8bfbd522bbbb9371e04f9429 --- /dev/null +++ b/episodes/c5_p002_e010/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 2, "seq": 1, "step": 83, "t": 0.415, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 83, "t": 0.415, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 88, "t": 0.44, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 2289, "t": 11.445, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 2341, "t": 11.705, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6863, "t": 34.315, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 7476, "t": 37.38, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 7476, "t": 37.38, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.532716229845272}, "cause": "task-2-1"} +{"env_id": 2, "seq": 9, "step": 7476, "t": 37.38, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 7476, "t": 37.38, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 7476, "t": 37.38, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 7895, "t": 39.475, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 13, "step": 7895, "t": 39.475, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7895, "t": 39.475, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 7895, "t": 39.475, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 16, "step": 7895, "t": 39.475, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7895, "t": 39.475, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 18, "step": 7895, "t": 39.475, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7895, "t": 39.475, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 7895, "t": 39.475, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.532716229845272}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 8802, "t": 44.01, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 22, "step": 8802, "t": 44.01, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.53500000000232}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 8802, "t": 44.01, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.53500000000232}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 24, "step": 8802, "t": 44.01, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 8802, "t": 44.01, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 8802, "t": 44.01, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 9222, "t": 46.11, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 28, "step": 9222, "t": 46.11, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.734275987379078e-08}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 9222, "t": 46.11, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.734275987379078e-08}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 9222, "t": 46.11, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 31, "step": 9222, "t": 46.11, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 9222, "t": 46.11, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 33, "step": 9803, "t": 49.015, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 34, "step": 11576, "t": 57.88, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 11576, "t": 57.88, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 36, "step": 11576, "t": 57.88, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 37, "step": 11576, "t": 57.88, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p002_e010/env.mp4 b/episodes/c5_p002_e010/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..895754f4f6238696fbb1d30284a5959bfe35383b --- /dev/null +++ b/episodes/c5_p002_e010/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7299c6cf3cc656ca2721cab7915666994377e4fbbf4d85a00813dde7bb5f5b73 +size 1223817 diff --git a/episodes/c5_p002_e010/meta.json b/episodes/c5_p002_e010/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a7bb97c4c953b8df6345cbabeedd598361f1e6f8 --- /dev/null +++ b/episodes/c5_p002_e010/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/10", + "fps": 25, + "frames": 1226, + "kept_ticks": "even", + "video_frames": { + "wrist": 1226, + "env": 1226 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e010/scene_snapshot.json b/episodes/c5_p002_e010/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..9eca39d366d621a8318d6a8f496af66efb7fd413 --- /dev/null +++ b/episodes/c5_p002_e010/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 10, + "env_id": 2, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48097991943359375, + 0.1065673828125, + 0.8999999761581421 + ], + "ori": [ + 0.726047158241272, + 0.0, + 0.0, + -0.687644898891449 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.364164415792237e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2958635841081464, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2871869939355539, + "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": 0.2958635841081464, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3704414367675781, + 0.9342432022094727, + 0.8999999761581421 + ], + "ori": [ + -0.5483789443969727, + -1.0931927363344585e-07, + -6.406562391703119e-08, + 0.8362300395965576 + ], + "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": [ + 1.0490689428266364e-09, + 1.6006818093217134e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.0290254809651742e-08, + 1.300709726592686e-07, + -1.0740141220821897e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.11443614959716797, + 1.1500024795532227, + 0.8999999761581421 + ], + "ori": [ + 5.6219951147795655e-06, + -5.686550119676781e-10, + -1.3200626147735761e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.194853632175864e-09, + -1.4329000208590514e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 6.296949806028351e-08, + -2.0321894567132404e-07, + -2.0822358948180408e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.2267074584960938, + 0.4499979019165039, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 6.233656257847997e-09, + -2.892681205679537e-09, + 9.440265785087831e-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": [ + 5.26927390609444e-10, + 1.0623685264832261e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -6.533834806532468e-08, + 3.371444279309799e-08, + 6.520215478644786e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.1370096206665039, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.3927042630257347e-07, + 1.6447362582994174e-08, + -0.00012283498654142022 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.214983893140015e-08, + -6.137897798907943e-07, + -8.791685104370117e-07 + ], + "angular_velocity": [ + 2.1887535694986582e-05, + -5.408940978668397e-06, + 8.423361578024924e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.365163803100586, + 0.9454412460327148, + 0.9180000424385071 + ], + "ori": [ + -0.47591662406921387, + -1.0251203974576129e-07, + -7.520485922896114e-08, + 0.8794904351234436 + ], + "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": [ + 2.6449164636233036e-08, + 3.1701972602604656e-08, + -9.045004844665527e-06 + ], + "angular_velocity": [ + -2.1035957615822554e-06, + 4.97731605264562e-07, + 8.93876332952459e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.10408210754394531, + 1.154886245727539, + 0.9180000424385071 + ], + "ori": [ + -0.017189787700772285, + -5.893486809682713e-10, + -2.397673171117276e-09, + 0.9998522996902466 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.088762465912168e-09, + -1.6469716257461187e-08, + -5.245208740234375e-06 + ], + "angular_velocity": [ + -2.0554940860506576e-08, + 1.7676431980362395e-06, + -2.31066081823883e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.2137689590454102, + 0.4522867202758789, + 0.9180000424385071 + ], + "ori": [ + 0.998239278793335, + 5.886154674783484e-09, + -7.473016649939268e-10, + -0.0593169704079628 + ], + "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": [ + -4.1349843549198795e-09, + 1.7999024493065008e-09, + -5.3085386753082275e-06 + ], + "angular_velocity": [ + 2.139152002200717e-07, + -1.3137967016518814e-06, + -1.44970400128841e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -0.15066146850585938, + 0.4555807113647461, + 0.9179999232292175 + ], + "ori": [ + 0.9979766011238098, + -1.7273184766963823e-06, + -5.791613375549787e-07, + -0.06358347833156586 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.088539405231131e-06, + -8.077648089965805e-06, + 4.246830940246582e-06 + ], + "angular_velocity": [ + 0.00024802994448691607, + 6.428795313695446e-05, + -3.765244400710799e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 8.980000000000004, + "step": 1796, + "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": 3.364164415792237e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2958635841081464, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1712, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5204414427280426, + 0.4842432141304016, + 0.0 + ], + "carrier_2": [ + -0.03556385636329651, + 0.7000024914741516, + 0.0 + ], + "carrier_3": [ + 1.0767074525356293, + -2.086162567138672e-06, + 0.0 + ], + "carrier_4": [ + -0.2870096266269684, + 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": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.32153571049917207, + -0.3439696557765805, + 3.0545591481478294 + ], + "ori": [ + -13.752098447293871, + -7.276261803178285, + 25.28449486488759 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6340.855279782692, + "color": [ + 0.945906540956249, + 0.9940245562624019, + 0.8416170893900895 + ], + "intensity": 11761.741672491353, + "width": 1.463819413631443, + "height": 0.8919146704874098 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.6340583259468402, + -0.9919750496924542, + 1.8374305892410219 + ], + "ori": [ + -37.14208516592745, + 16.692307243177297, + 13.462120315382847 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5576.134585612528, + "color": [ + 0.9726517979452243, + 0.868204862452882, + 0.9284577767408658 + ], + "intensity": 6542.939310339604, + "radius": 0.14181373393509095 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1418.1457821093886, + "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": [ + [ + 0.9484947323799133, + -1.4427857398986816, + 2.148275136947632, + -2.2762413024902344, + -1.5707956552505493, + 2.511298179626465, + 0.01800004579126835, + 0.017999952659010887 + ], + [ + 1.095108985900879, + -1.4985582828521729, + 2.093106508255005, + -2.1657352447509766, + -1.5707544088363647, + 2.5231447219848633, + 0.007867253385484219, + 0.006194172892719507 + ], + [ + 0.9141025543212891, + -1.7193987369537354, + 2.0904998779296875, + -1.9419007301330566, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 2.68361759185791, + -1.9935545921325684, + 1.9577897787094116, + -1.5345035791397095, + -1.5699703693389893, + 4.252841472625732, + 0.007799855433404446, + 0.007054233457893133 + ] + ], + "joint_vel": [ + [ + -0.0001107061980292201, + 0.014408038929104805, + 0.009274168871343136, + -0.02249334380030632, + -7.169671334850136e-06, + 2.0042572941747494e-05, + -6.151638899609679e-06, + 6.127124379418092e-06 + ], + [ + -2.4329698135261424e-05, + 0.00016710815543774515, + 0.00021216750610619783, + -0.0006135609582997859, + 0.0006586365052498877, + 0.0021474792156368494, + -0.007922621443867683, + -0.0011267723748460412 + ], + [ + -2.422843923778837e-38, + 2.8475063023537016e-38, + 1.8901293824377363e-38, + 4.582199343129259e-37, + -6.21047228543401e-37, + -5.47655779718281e-37, + -7.873248110631243e-38, + 1.0143463726714593e-37 + ], + [ + 0.011390955187380314, + 0.023443223908543587, + -0.012901726178824902, + -0.010128352791070938, + 0.0004164428682997823, + 0.010598916560411453, + -0.009017087519168854, + 0.00040089801768772304 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05363854020833969, + 0.0025409681256860495, + -0.03249720484018326, + -0.2777257561683655, + 0.6563058495521545, + 0.6398114562034607, + -0.2877017855644226 + ], + [ + 0.048095107078552246, + -0.0007434043218381703, + -0.030682465061545372, + -0.29206541180610657, + 0.6476665139198303, + 0.6441342830657959, + -0.28340238332748413 + ], + [ + 0.049664318561553955, + 0.0017571807838976383, + -0.032855961471796036, + -0.28662440180778503, + 0.6389119625091553, + 0.6597881317138672, + -0.27261245250701904 + ], + [ + 0.049270737916231155, + -0.00034827677882276475, + -0.028341345489025116, + -0.2873934507369995, + 0.6424605250358582, + 0.648524284362793, + -0.28994083404541016 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e010/wrist.mp4 b/episodes/c5_p002_e010/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c0bd4519f1b622a356b3fb9eb8637f8e203823de --- /dev/null +++ b/episodes/c5_p002_e010/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce57508705854517d7b33e637270846ada0db818ae5954d27c55a659547606fc +size 7019657 diff --git a/episodes/c5_p002_e011/data.npz b/episodes/c5_p002_e011/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..95c020e5a670b84f486b10adb1f5708b6ad70678 --- /dev/null +++ b/episodes/c5_p002_e011/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41fd54c9f797c817b09dc34a966c0e316a56173f6009f72e87aa3306cf6c196e +size 188248 diff --git a/episodes/c5_p002_e011/device_events.jsonl b/episodes/c5_p002_e011/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a8ce97b1c1db6e6ec1211684d32bf65d90e8124e --- /dev/null +++ b/episodes/c5_p002_e011/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 175, "t": 0.875, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 175, "t": 0.875, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 180, "t": 0.9, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1479, "t": 7.395, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6419, "t": 32.095, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 7032, "t": 35.16, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7032, "t": 35.16, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.607005124903537}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 7032, "t": 35.16, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 9, "step": 7032, "t": 35.16, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 10, "step": 7032, "t": 35.16, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 11, "step": 7451, "t": 37.255, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 12, "step": 7451, "t": 37.255, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 7451, "t": 37.255, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7451, "t": 37.255, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 7451, "t": 37.255, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7451, "t": 37.255, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 7451, "t": 37.255, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 18, "step": 7451, "t": 37.255, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 19, "step": 7451, "t": 37.255, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.607005124903537}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 8373, "t": 41.865, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 21, "step": 8373, "t": 41.865, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.610000000002358}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8373, "t": 41.865, "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": 23, "step": 8373, "t": 41.865, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 24, "step": 8373, "t": 41.865, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 25, "step": 8373, "t": 41.865, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 26, "step": 8793, "t": 43.965, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 27, "step": 8793, "t": 43.965, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.513670604997742e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8793, "t": 43.965, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.513670604997742e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8793, "t": 43.965, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 8793, "t": 43.965, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8793, "t": 43.965, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 9369, "t": 46.845, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 33, "step": 11088, "t": 55.44, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11088, "t": 55.44, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 11088, "t": 55.44, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 11088, "t": 55.44, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p002_e011/env.mp4 b/episodes/c5_p002_e011/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a1d236de7febdf3465dc6e8906156c8a64f6d0ba --- /dev/null +++ b/episodes/c5_p002_e011/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6902c48001137522b1b82017011a230ddf90fab8724d95cffa42e7cf51e34814 +size 1271653 diff --git a/episodes/c5_p002_e011/meta.json b/episodes/c5_p002_e011/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..314a1a672a71bb2a2df988da985dba5fa73aed7b --- /dev/null +++ b/episodes/c5_p002_e011/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/11", + "fps": 25, + "frames": 1258, + "kept_ticks": "even", + "video_frames": { + "wrist": 1258, + "env": 1258 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e011/scene_snapshot.json b/episodes/c5_p002_e011/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..5bbc75516e7bd53c682f217431047b6fd2e23709 --- /dev/null +++ b/episodes/c5_p002_e011/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 11, + "env_id": 0, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.0092494331578883e-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": 0.19244993229589513, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.13561898189898655, + "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": 0.19244993229589513, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.014201164245605469, + 0.44696807861328125, + 0.8999999761581421 + ], + "ori": [ + 0.9999680519104004, + 7.775155808076306e-08, + -8.906750004200603e-09, + 0.00800259131938219 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2486957245982921e-08, + -8.466855661026784e-08, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 2.12310715141939e-06, + -7.47068838791165e-07, + -3.8257621781667694e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.361948013305664, + 0.4519062042236328, + 0.8999999761581421 + ], + "ori": [ + 0.9995163679122925, + 1.8001632184905247e-08, + -4.559784017033053e-08, + 0.03109918348491192 + ], + "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": [ + -9.692071589739726e-10, + -6.303801924900654e-09, + 2.9802322387695312e-08 + ], + "angular_velocity": [ + 3.4091061706931214e-07, + -2.3975763951966655e-07, + 9.526452515729034e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.04959869384765625, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + 4.0164708480006084e-05, + -1.1482099993020967e-10, + -3.749907051542323e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0622880353139408e-10, + -5.1412984980458987e-11, + 0.0 + ], + "angular_velocity": [ + 4.9291902115555786e-08, + 1.3648126184762077e-08, + -8.740722812206059e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3143529891967773, + 1.024977684020996, + 0.8999999761581421 + ], + "ori": [ + -0.4172835648059845, + 1.433935779004969e-07, + 2.629570161616357e-08, + 0.9087763428688049 + ], + "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": [ + 8.316023354382196e-07, + 9.711861821415368e-07, + -3.21120023727417e-06 + ], + "angular_velocity": [ + -7.945618563098833e-05, + 6.55541880405508e-05, + 1.0414272537673241e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.015394210815429688, + 0.4442768096923828, + 0.9179999828338623 + ], + "ori": [ + 0.9999919533729553, + 1.8223772713099606e-08, + 3.446135110607429e-08, + 0.004016678314656019 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.877068254747428e-07, + -7.949288374220487e-07, + -1.1421740055084229e-05 + ], + "angular_velocity": [ + -0.0002120228309649974, + -3.713920887093991e-05, + -1.129838710767217e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 1.365213394165039, + 0.46181774139404297, + 0.9180000424385071 + ], + "ori": [ + 0.9995888471603394, + 9.2413294794369e-09, + -4.552994425921497e-08, + 0.028672942891716957 + ], + "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": [ + -4.44192380655295e-08, + -9.059610306394461e-08, + -5.599111318588257e-06 + ], + "angular_velocity": [ + 6.0634092733380385e-06, + -2.7292858248983975e-06, + 1.7557471210238873e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -0.04848766326904297, + 1.1518783569335938, + 0.9180000424385071 + ], + "ori": [ + -0.015951089560985565, + 3.470961018603447e-11, + -4.48427206478641e-09, + 0.9998728632926941 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.408386556851383e-08, + -1.0189654453540697e-08, + -5.595386028289795e-06 + ], + "angular_velocity": [ + -8.142828278323577e-08, + 1.627370465939748e-06, + 1.5708313583218114e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.3262519836425781, + 1.0213737487792969, + 0.9179999828338623 + ], + "ori": [ + -0.32456865906715393, + 1.2078561439921032e-07, + 1.9655203686852474e-08, + 0.9458621144294739 + ], + "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": [ + 2.3756488189974334e-06, + 2.955458739961614e-06, + -4.153698682785034e-06 + ], + "angular_velocity": [ + -8.51668810355477e-05, + 6.725850835209712e-05, + 5.988555358271697e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 5.339999999999908, + "step": 1068, + "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": 1.0092494331578883e-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": 0.19244993229589513, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 892, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.135798841714859, + -0.003031909465789795, + 0.0 + ], + "carrier_2": [ + 1.2119480073451996, + 0.0019062161445617676, + 0.0 + ], + "carrier_3": [ + -0.19959869980812073, + 0.6999977231025696, + 0.0 + ], + "carrier_4": [ + -1.4643529951572418, + 0.574977695941925, + 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": [ + 0.6673672915858923, + 0.09380374895043175, + 2.9425357153668474 + ], + "ori": [ + 1.5727356833152903, + -9.61396256716742, + 22.391786500195906 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3946.244583823105, + "color": [ + 0.8349418518329786, + 0.8604197235475517, + 0.9494388259529113 + ], + "intensity": 4935.656470080758, + "width": 2.704787248832759, + "height": 1.5181634018175467 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.6876657516870882, + 1.2675389940506234, + 2.202374227163428 + ], + "ori": [ + 34.06813269275658, + -12.959775683285855, + 20.41771017546705 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6802.0894306154605, + "color": [ + 0.7671819572345661, + 0.9634888048973191, + 0.8027066132578309 + ], + "intensity": 6070.283433361514, + "radius": 0.17695542752174315 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1418.1457821093886, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141027331352234, + -1.7193983793258667, + 2.0904998779296875, + -1.9419007301330566, + -1.5707999467849731, + 2.484900951385498, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 1.0952165126800537, + -1.4985015392303467, + 2.0934672355651855, + -2.1655993461608887, + -1.5707536935806274, + 2.523223876953125, + 0.006774050183594227, + 0.007093896623700857 + ], + [ + 0.9141018986701965, + -1.7193994522094727, + 2.0904998779296875, + -1.9419002532958984, + -1.5707999467849731, + 2.484900712966919, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 2.331622362136841, + -2.4143073558807373, + 2.1066644191741943, + -1.2621947526931763, + -1.5700479745864868, + 3.900869846343994, + 0.007773412391543388, + 0.007082934956997633 + ] + ], + "joint_vel": [ + [ + -2.7150070865788543e-38, + 1.8943938139243696e-38, + -1.9463934775982278e-38, + 3.5444001667355968e-37, + -3.376262063429208e-37, + 2.2685670613075916e-36, + 5.1980777016069624e-08, + -5.1980777016069624e-08 + ], + [ + -0.001018101000227034, + -0.0006411710055544972, + -0.0011577089317142963, + 4.634999640984461e-06, + -0.0008569119381718338, + -0.0031229346059262753, + -0.0069572655484080315, + -0.0002804156392812729 + ], + [ + -2.845269830004639e-38, + 0.0, + 0.0, + 4.126063016318519e-37, + -1.2205556252798878e-38, + 3.7325929810401397e-37, + -2.5990376073536936e-08, + 2.5990388508034812e-08 + ], + [ + 0.016130516305565834, + 0.012807379476726055, + -0.002438920782878995, + -0.01024892833083868, + 0.00025937327882274985, + 0.015167309902608395, + -0.008363720960915089, + 0.0004185791767667979 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05161341652274132, + 0.00033824911224655807, + -0.03258354589343071, + -0.27254974842071533, + 0.6558566093444824, + 0.6430668830871582, + -0.28641530871391296 + ], + [ + 0.045956604182720184, + -0.000877512851729989, + -0.03232438117265701, + -0.293412983417511, + 0.6420928239822388, + 0.6499637961387634, + -0.28137651085853577 + ], + [ + 0.05221342667937279, + 0.0023118439130485058, + -0.03325193002820015, + -0.28257301449775696, + 0.6439355611801147, + 0.6573711037635803, + -0.27085545659065247 + ], + [ + 0.04861730709671974, + -0.0004410542023833841, + -0.028965741395950317, + -0.2832283079624176, + 0.6416810750961304, + 0.6503068208694458, + -0.29176732897758484 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e011/wrist.mp4 b/episodes/c5_p002_e011/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5410da2724f3dc02356960719c8ef80ed07a9542 --- /dev/null +++ b/episodes/c5_p002_e011/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e840d898d8ff191af34965942ba761f4284494bfb02e321952b38358412cfacf +size 7233295 diff --git a/episodes/c5_p002_e012/data.npz b/episodes/c5_p002_e012/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..21ea31006e30e212df5636f95469f654d1bd62bc --- /dev/null +++ b/episodes/c5_p002_e012/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80093e7a2f62380907bdc00ff7ff1ff17c81ce670c8131c845897647eafe9620 +size 189004 diff --git a/episodes/c5_p002_e012/device_events.jsonl b/episodes/c5_p002_e012/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e6bd6bd25948e6e765be36062a72a5cfdb0e9fa9 --- /dev/null +++ b/episodes/c5_p002_e012/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 123, "t": 0.615, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 123, "t": 0.615, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 128, "t": 0.64, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6740, "t": 33.7, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7352, "t": 36.76, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 7352, "t": 36.76, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.177164950264845}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7352, "t": 36.76, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 7352, "t": 36.76, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 7352, "t": 36.76, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7771, "t": 38.855, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7771, "t": 38.855, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7771, "t": 38.855, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7771, "t": 38.855, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7771, "t": 38.855, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7771, "t": 38.855, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7771, "t": 38.855, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7771, "t": 38.855, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7771, "t": 38.855, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.177164950264845}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8607, "t": 43.035, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 8607, "t": 43.035, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.1800000000021384}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8607, "t": 43.035, "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": 4.1800000000021384}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8607, "t": 43.035, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 8607, "t": 43.035, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 8607, "t": 43.035, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 9027, "t": 45.135, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 9027, "t": 45.135, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.280518269197728e-08}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 9027, "t": 45.135, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.280518269197728e-08}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 9027, "t": 45.135, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 9027, "t": 45.135, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 9027, "t": 45.135, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 9607, "t": 48.035, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 11380, "t": 56.9, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 11380, "t": 56.9, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11380, "t": 56.9, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11380, "t": 56.9, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p002_e012/env.mp4 b/episodes/c5_p002_e012/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1f4b00003690879ee3dbdb7ac2f34a99c08137e1 --- /dev/null +++ b/episodes/c5_p002_e012/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60f58c7d5bb5e43ca0cf7e17370ca74f6f3c55775eeeb37ce65e1caff99e0697 +size 1282685 diff --git a/episodes/c5_p002_e012/meta.json b/episodes/c5_p002_e012/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3a355ab40268a7d61de80fffaee927d26c11f23d --- /dev/null +++ b/episodes/c5_p002_e012/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/12", + "fps": 25, + "frames": 1223, + "kept_ticks": "even", + "video_frames": { + "wrist": 1223, + "env": 1223 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e012/scene_snapshot.json b/episodes/c5_p002_e012/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..1dbbf70ba900f7e8f03a9e238c56efc228ce9f56 --- /dev/null +++ b/episodes/c5_p002_e012/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 12, + "env_id": 3, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5256032943725586, + 0.08841419219970703, + 0.8999999761581421 + ], + "ori": [ + 0.7292097806930542, + 0.0, + 0.0, + -0.6842902302742004 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.3549150910545658e-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": 0.2612964241811485, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.271371528340706, + "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": 0.2612964241811485, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6972122192382812, + 0.8135795593261719, + 0.8999999761581421 + ], + "ori": [ + 0.6989150047302246, + 5.549952675210079e-08, + -6.689292320061213e-08, + 0.7152048349380493 + ], + "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": [ + -1.0334619826579683e-09, + 4.2888181894795707e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -4.7726164353889544e-08, + -6.91363197802275e-08, + -2.9696520797983794e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.11263370513916016, + 1.1500024795532227, + 0.8999999761581421 + ], + "ori": [ + -3.532824166541104e-06, + 4.9545054281452394e-08, + -7.978229632499279e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.357134754049639e-08, + 3.881681607253995e-07, + -1.0803341865539551e-07 + ], + "angular_velocity": [ + -1.2232358130859211e-05, + -9.435002539248671e-07, + 5.721583875128999e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.12151241302490234, + 0.4471416473388672, + 0.8999999761581421 + ], + "ori": [ + 0.9999557733535767, + 2.2290098655730617e-09, + -3.415541849349779e-09, + 0.009404806420207024 + ], + "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": [ + 8.811849028234064e-10, + -1.790016690428331e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 2.595222667878261e-07, + -4.8829562615537725e-08, + 2.819903599515783e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1684064865112305, + 1.1257762908935547, + 0.8999999761581421 + ], + "ori": [ + -0.16517239809036255, + 2.7728507490110132e-08, + 5.528297375434477e-09, + 0.986264705657959 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.7053372875229798e-09, + 3.790423086513783e-09, + 3.3527612686157227e-08 + ], + "angular_velocity": [ + -4.951468781655421e-07, + 4.2673099187595653e-07, + 3.7405126107614706e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.705038070678711, + 0.8163328170776367, + 0.9179999828338623 + ], + "ori": [ + 0.7261762022972107, + 5.971739369670104e-08, + -6.288202314408409e-08, + 0.6875086426734924 + ], + "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": [ + -3.290398709054898e-08, + -2.0528281297060857e-08, + 8.195638656616211e-08 + ], + "angular_velocity": [ + 1.457425014450564e-06, + -2.8412443953129696e-07, + 2.0445598636342766e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.12398910522460938, + 1.1477298736572266, + 0.9180000424385071 + ], + "ori": [ + -0.044878505170345306, + 6.944651431695092e-08, + -5.077603191239177e-07, + 0.9989924430847168 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.341167939652223e-06, + 7.074813765939325e-06, + -6.757676601409912e-06 + ], + "angular_velocity": [ + 3.327661397634074e-05, + -2.4552505237807054e-06, + -4.777203139383346e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -0.13665771484375, + 0.44121360778808594, + 0.9180000424385071 + ], + "ori": [ + 0.9997013807296753, + 2.735517368179785e-09, + -4.632683570093832e-09, + -0.024438001215457916 + ], + "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": [ + -1.7404094165840434e-08, + -3.769671153008858e-08, + -5.345791578292847e-06 + ], + "angular_velocity": [ + 1.220665467371873e-06, + -2.1603382265311666e-06, + 6.198615665198304e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.179692268371582, + 1.1179304122924805, + 0.9179999828338623 + ], + "ori": [ + -0.16263319551944733, + 2.916227970217733e-08, + 8.214911417780968e-09, + 0.986686646938324 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9140877327572525e-07, + 1.7534821949993784e-07, + -2.000480890274048e-06 + ], + "angular_velocity": [ + -3.6620583614421776e-06, + 4.632217496691737e-06, + 4.557454928999505e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 8.159999999999876, + "step": 1632, + "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": 2.3549150910545658e-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": 0.2612964241811485, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1508, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5472122132778168, + 0.36357957124710083, + 0.0 + ], + "carrier_2": [ + -0.03736630082130432, + 0.7000024914741516, + 0.0 + ], + "carrier_3": [ + -0.2715124189853668, + -0.0028583407402038574, + 0.0 + ], + "carrier_4": [ + -1.318406492471695, + 0.6757763028144836, + 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": [ + 0.21085062924850229, + -0.2787205927505734, + 3.195346919166882 + ], + "ori": [ + 1.812862376424352, + 5.75631310754283, + 24.01282080805592 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6981.005217575666, + "color": [ + 0.9945430433199441, + 0.9964386851170053, + 0.9733424651618736 + ], + "intensity": 7466.773527772744, + "width": 1.9941416900167819, + "height": 0.8889551230039556 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.7741905846745696, + 1.2465707445710852, + 2.619692424067544 + ], + "ori": [ + -31.646357116828412, + 2.3777572144912895, + 32.698845639900995 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6421.129103721169, + "color": [ + 0.988209352262906, + 0.9150290378598263, + 0.9978837231681063 + ], + "intensity": 8053.918321886401, + "radius": 0.24293326960311307 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1418.1457821093886, + "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": [ + [ + 1.1714671850204468, + -1.633607029914856, + 2.1978766918182373, + -2.1351659297943115, + -1.5712965726852417, + 5.866905212402344, + 0.007163211237639189, + 0.008019338361918926 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.0326306819915771, + -1.658734917640686, + 2.226212978363037, + -2.139312267303467, + -1.5706770420074463, + 3.202730655670166, + 0.008433234877884388, + 0.006760444492101669 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.07513711601495743, + 0.027167826890945435, + -0.007079159375280142, + -0.02008180133998394, + 0.003080177353695035, + 0.050473399460315704, + -0.001973304897546768, + 8.555471140425652e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.04722684994339943, + 0.025966815650463104, + -0.008170440793037415, + -0.012359359301626682, + 0.0002663476043380797, + -0.08521916717290878, + -0.003581627272069454, + 0.00032727609504945576 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05240718275308609, + 0.0020879225339740515, + -0.031680405139923096, + -0.2760491669178009, + 0.6542968153953552, + 0.6441944241523743, + -0.284088134765625 + ], + [ + 0.048669587820768356, + 0.0012825701851397753, + -0.03135351091623306, + -0.29514530301094055, + 0.6403002142906189, + 0.6497315764427185, + -0.2841721177101135 + ], + [ + 0.05262511968612671, + 0.002472570864483714, + -0.03095918707549572, + -0.2869955599308014, + 0.6397530436515808, + 0.6587571501731873, + -0.2727428078651428 + ], + [ + 0.04867757856845856, + -0.0007612803019583225, + -0.0299016572535038, + -0.2862498462200165, + 0.6426317691802979, + 0.6480346322059631, + -0.2917816936969757 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e012/wrist.mp4 b/episodes/c5_p002_e012/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..20d126a8b32fa295bb9ef43cbbbf56e0396f6082 --- /dev/null +++ b/episodes/c5_p002_e012/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb3993d44f4c1282a4babc37923890f53ad6d1087dfa27ce62d8a1d29285bc27 +size 7508777 diff --git a/episodes/c5_p002_e013/data.npz b/episodes/c5_p002_e013/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..db99af09f83a805a99541247a394e1ba7da21f2e --- /dev/null +++ b/episodes/c5_p002_e013/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10995171a98c7181bae426b8c5e0a36dfb71ef0ce7f858cd3591db24d1991ffc +size 192013 diff --git a/episodes/c5_p002_e013/device_events.jsonl b/episodes/c5_p002_e013/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ae0dc5257801de317a621c1ca87a4b094b00d7f --- /dev/null +++ b/episodes/c5_p002_e013/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 135, "t": 0.675, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 135, "t": 0.675, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 140, "t": 0.7, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 7331, "t": 36.655, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7944, "t": 39.72, "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": 7944, "t": 39.72, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.92501144101714}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7944, "t": 39.72, "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": 7944, "t": 39.72, "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": 7944, "t": 39.72, "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": 8363, "t": 41.815, "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": 8363, "t": 41.815, "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": 8363, "t": 41.815, "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": 8363, "t": 41.815, "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": 8363, "t": 41.815, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 8363, "t": 41.815, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 8363, "t": 41.815, "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": 8363, "t": 41.815, "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": 8363, "t": 41.815, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.92501144101714}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 9149, "t": 45.745, "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": 9149, "t": 45.745, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.9300000000020106}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 9149, "t": 45.745, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.9300000000020106}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 9149, "t": 45.745, "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": 9149, "t": 45.745, "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": 9149, "t": 45.745, "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": 9569, "t": 47.845, "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": 9569, "t": 47.845, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 9569, "t": 47.845, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 9569, "t": 47.845, "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": 9569, "t": 47.845, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 9569, "t": 47.845, "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": 10145, "t": 50.725, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 11832, "t": 59.16, "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": 11832, "t": 59.16, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11832, "t": 59.16, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11832, "t": 59.16, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p002_e013/env.mp4 b/episodes/c5_p002_e013/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8f185d152085fc2e686ddfd08d26adf74d1fd0ff --- /dev/null +++ b/episodes/c5_p002_e013/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:479d6783317b36f61bc847e7eac446645eddaaf989433315933f98bef77a29f1 +size 1290716 diff --git a/episodes/c5_p002_e013/meta.json b/episodes/c5_p002_e013/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..adb6460c8c1a07e347057a116b79e6f5e07b68e3 --- /dev/null +++ b/episodes/c5_p002_e013/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/13", + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e013/scene_snapshot.json b/episodes/c5_p002_e013/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..07d6a49377c792e997120d4d6b811cb3782994d4 --- /dev/null +++ b/episodes/c5_p002_e013/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 13, + "env_id": 1, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.29199321127266825, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.04282799525614006, + "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": 0.29199321127266825, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.02988147735595703, + 1.1528558731079102, + 0.8999999761581421 + ], + "ori": [ + -0.007139851339161396, + -7.628989107111295e-10, + 3.7869007929458576e-10, + 0.9999745488166809 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.413323371314618e-10, + 3.7268614860863636e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -1.6882174236343417e-07, + 1.6461056873140478e-07, + -2.0729906680116983e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.629690170288086, + 0.5944156646728516, + 0.8999999761581421 + ], + "ori": [ + 0.8966354727745056, + 8.880210344841544e-09, + 6.357692150515959e-10, + 0.44276949763298035 + ], + "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": [ + 6.031446453391709e-10, + -1.3545464749853409e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 3.3517697062279694e-08, + 3.9939479279382795e-08, + -1.3735599324604664e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3106708526611328, + 0.5692949295043945, + 0.8999999761581421 + ], + "ori": [ + -0.9074759483337402, + 2.572649426824114e-09, + 6.030142429835905e-08, + 0.4201042652130127 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.924864098285411e-10, + 5.850377959859543e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -4.4821728550914486e-08, + 8.003908646969649e-08, + 1.3631509254707908e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.10759258270263672, + 0.44733619689941406, + 0.8999999761581421 + ], + "ori": [ + 0.9999392032623291, + -1.331346283217627e-10, + -7.328574969100998e-10, + 0.011032914742827415 + ], + "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": [ + -7.277156655050021e-11, + 3.3847253888552586e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.1928100579771126e-07, + -3.440486295858136e-08, + -3.432696793481682e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.026914596557617188, + 1.1442975997924805, + 0.9179999828338623 + ], + "ori": [ + -0.03186871483922005, + -1.8535825097032443e-09, + 3.0170945741758715e-09, + 0.9994921684265137 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.896236305285129e-08, + 6.766602211882855e-08, + 1.7136335372924805e-07 + ], + "angular_velocity": [ + -2.0654304080380825e-06, + 2.771107574517373e-06, + 1.1247279019244161e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.6382827758789062, + 0.5972156524658203, + 0.9180000424385071 + ], + "ori": [ + 0.8752039670944214, + 7.722189998560225e-09, + 8.872249601665771e-10, + 0.4837541878223419 + ], + "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": [ + -8.236814785789193e-09, + -1.0752498447175185e-08, + -5.602836608886719e-06 + ], + "angular_velocity": [ + 1.251238586519321e-06, + -5.081725475974963e-07, + -3.901741507661427e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.313821792602539, + 0.5735864639282227, + 0.9179999828338623 + ], + "ori": [ + -0.9240912199020386, + 3.5092766470512515e-09, + 6.064234270297675e-08, + 0.3821721374988556 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.5009605497672283e-09, + 2.8366802240498146e-08, + -5.599111318588257e-06 + ], + "angular_velocity": [ + -8.378577831535949e-07, + -1.3295135659063817e-06, + 1.779504827936762e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.09673309326171875, + 0.43746280670166016, + 0.9179999828338623 + ], + "ori": [ + 0.9988691210746765, + -8.1829476528128e-09, + -6.227492965749093e-10, + 0.04754636809229851 + ], + "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": [ + -4.893889382628913e-08, + 3.902195544469578e-08, + 1.7881393432617188e-07 + ], + "angular_velocity": [ + -8.850570338836405e-07, + -2.2177644041221356e-06, + 1.652248329264694e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 8.839999999999982, + "step": 1768, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.29199321127266825, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1632, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.12011852860450745, + 0.7028558850288391, + 0.0 + ], + "carrier_2": [ + 1.4796901643276215, + 0.14441567659378052, + 0.0 + ], + "carrier_3": [ + -1.4606708586215973, + 0.11929494142532349, + 0.0 + ], + "carrier_4": [ + -0.04240742325782776, + -0.0026637911796569824, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.1751498053717528, + 0.27196835147280984, + 2.8435737208725356 + ], + "ori": [ + 6.082222667768207, + -5.233058081169297, + -27.33938855892131 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6248.641947248382, + "color": [ + 0.937960711252253, + 0.9002330720183239, + 0.9067620106290292 + ], + "intensity": 8928.796799736177, + "width": 2.726176912093467, + "height": 1.6346973361542319 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.5384017115313628, + 0.2186927604600799, + 2.49498032090568 + ], + "ori": [ + -22.634162217316273, + 35.08344242269061, + 16.976191552813972 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3104.2904890768255, + "color": [ + 0.961654976606769, + 0.8648898860388641, + 0.8781314794372779 + ], + "intensity": 9881.632922425077, + "radius": 0.1598723585048985 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 355.2356790902959, + "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 + ], + [ + 0.914104163646698, + -1.719395399093628, + 2.090498208999634, + -1.941900610923767, + -1.5707999467849731, + 2.4849021434783936, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.2515805959701538, + -1.5948997735977173, + 2.19360613822937, + -2.1695194244384766, + -1.5707850456237793, + 2.8713648319244385, + 0.007592607289552689, + 0.007023898884654045 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 5.1089459702780005e-06, + -6.811891580582596e-06, + 6.811957518948475e-06, + -4.128961712465684e-14, + 2.7359414918066288e-14, + 1.32460134440876e-12, + 2.6631976246700717e-14, + 1.1513645668381062e-13 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 2.5489685867796652e-05, + -4.424482540343888e-05, + -0.00016475126903969795, + 0.000524059752933681, + -0.0002465812140144408, + -0.0018348315497860312, + -0.007334520574659109, + 0.00020829078857786953 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05442099645733833, + 0.0015199484769254923, + -0.03151698783040047, + -0.2743850350379944, + 0.6594465970993042, + 0.6398460268974304, + -0.2836196720600128 + ], + [ + 0.04768342152237892, + 0.0008752773283049464, + -0.03106500208377838, + -0.2931177616119385, + 0.6391808390617371, + 0.652218759059906, + -0.2830909788608551 + ], + [ + 0.05138179287314415, + 0.0025438766460865736, + -0.031595852226018906, + -0.27997612953186035, + 0.6444332003593445, + 0.6588801741600037, + -0.26869335770606995 + ], + [ + 0.049365442246198654, + -0.0011256902944296598, + -0.027643708512187004, + -0.2893446683883667, + 0.6421493887901306, + 0.6487598419189453, + -0.2881569564342499 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e013/wrist.mp4 b/episodes/c5_p002_e013/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..54499b9c1c102dd8d3906cac6a7fa00315428448 --- /dev/null +++ b/episodes/c5_p002_e013/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f2fec503d852ecdaad16d9ecd33851a4c0ebc7b4df67a6bae84d117daf734e2 +size 6612837 diff --git a/episodes/c5_p002_e014/data.npz b/episodes/c5_p002_e014/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..a5f34908c12fd7b889da26d50c65360d32823637 --- /dev/null +++ b/episodes/c5_p002_e014/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2bb1c0b98012dd270c5acda70fd36a9ee43c810848b4fa2a1a98bd0491de2a3 +size 201536 diff --git a/episodes/c5_p002_e014/device_events.jsonl b/episodes/c5_p002_e014/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4829c7632e67ad2d6d124cb86ac11e788abc05a5 --- /dev/null +++ b/episodes/c5_p002_e014/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 59, "t": 0.295, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 59, "t": 0.295, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 64, "t": 0.32, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 843, "t": 4.215, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 5694, "t": 28.47, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6308, "t": 31.54, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6308, "t": 31.54, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.6403922460769653}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6308, "t": 31.54, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 9, "step": 6308, "t": 31.54, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 10, "step": 6308, "t": 31.54, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 11, "step": 6727, "t": 33.635, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 6727, "t": 33.635, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 6727, "t": 33.635, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 6727, "t": 33.635, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 6727, "t": 33.635, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 6727, "t": 33.635, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 6727, "t": 33.635, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 18, "step": 6727, "t": 33.635, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 19, "step": 6727, "t": 33.635, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.6403922460769653}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 7456, "t": 37.28, "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": 7456, "t": 37.28, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.6450000000018647}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7456, "t": 37.28, "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": 3.6450000000018647}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7456, "t": 37.28, "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": 7456, "t": 37.28, "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": 7456, "t": 37.28, "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": 7876, "t": 39.38, "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": 7876, "t": 39.38, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.057027019361726e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 7876, "t": 39.38, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.057027019361726e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 7876, "t": 39.38, "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": 7876, "t": 39.38, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 7876, "t": 39.38, "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": 8456, "t": 42.28, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "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_3"}, "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/c5_p002_e014/env.mp4 b/episodes/c5_p002_e014/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..72e09009b4d2e636b2bafc6003b5f351df6109ca --- /dev/null +++ b/episodes/c5_p002_e014/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:abec03906ecbeca2daedd1f213d8f9357eee293b7d671a6373ecf8acf64c8f34 +size 1436197 diff --git a/episodes/c5_p002_e014/meta.json b/episodes/c5_p002_e014/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6c273bdc77d56adf86bfa845d001574667528345 --- /dev/null +++ b/episodes/c5_p002_e014/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/14", + "fps": 25, + "frames": 1294, + "kept_ticks": "even", + "video_frames": { + "wrist": 1294, + "env": 1294 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e014/scene_snapshot.json b/episodes/c5_p002_e014/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..7ed8e2a03de0264eb718e2c221a162dac46ecf4c --- /dev/null +++ b/episodes/c5_p002_e014/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 14, + "env_id": 2, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48097991943359375, + 0.1065673828125, + 0.8999999761581421 + ], + "ori": [ + 0.726047158241272, + 0.0, + 0.0, + -0.687644898891449 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 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": 0.1996583388265337, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.19548407382242988, + "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": 0.1996583388265337, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3926124572753906, + 0.8662185668945312, + 0.8999999761581421 + ], + "ori": [ + -0.6356028914451599, + 9.826860036810103e-08, + -9.533545508588759e-09, + 0.7720162272453308 + ], + "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": [ + -2.716239011490984e-09, + 1.5946416409562403e-09, + 0.0 + ], + "angular_velocity": [ + -1.1706600133720713e-07, + -1.268783478280966e-07, + 1.54401398333448e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.2010793685913086, + 1.150003433227539, + 0.8999999761581421 + ], + "ori": [ + -6.034388661646517e-06, + -5.076021269978526e-10, + -3.3547400413169726e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.357146700049384e-10, + -1.1082321726973987e-09, + 0.0 + ], + "angular_velocity": [ + 6.167341126683823e-08, + -7.528566214887178e-09, + -3.5784175622666226e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.04496574401855469, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.5420185128789399e-09, + -3.806639448100668e-09, + -3.9385708078043535e-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": [ + 1.5875403214238304e-09, + 1.479721900565778e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.2043817321227834e-07, + 1.5567025002383161e-07, + -3.84395448804753e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4767217636108398, + 0.47713470458984375, + 0.8999999761581421 + ], + "ori": [ + 0.9830253720283508, + -9.97228397636718e-08, + 2.6569651367935876e-08, + 0.18347014486789703 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.59192949115095e-08, + -6.397175980055181e-07, + -1.7508864402770996e-07 + ], + "angular_velocity": [ + 7.362260930676712e-06, + 7.662242751393933e-06, + -6.664159627689514e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.4029264450073242, + 0.8649015426635742, + 0.9179999828338623 + ], + "ori": [ + -0.6970365047454834, + 9.987250138010495e-08, + -1.8368192300499686e-08, + 0.7170356512069702 + ], + "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": [ + -1.4598922071229481e-08, + 6.173042521595562e-08, + 5.21540641784668e-08 + ], + "angular_velocity": [ + -2.2812371298641665e-06, + -8.285082344627881e-07, + 1.33810658553557e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.19880008697509766, + 1.1466255187988281, + 0.9180000424385071 + ], + "ori": [ + 0.0328756719827652, + 2.512841046353742e-10, + -4.787432228425814e-09, + 0.999459445476532 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.909918978526548e-08, + -1.0798176575121943e-08, + -5.304813385009766e-06 + ], + "angular_velocity": [ + -1.4563494232788798e-07, + 1.6713316881578066e-06, + 9.312300619512826e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -0.036945343017578125, + 0.45291614532470703, + 0.9180000424385071 + ], + "ori": [ + 0.9970300197601318, + 9.989749027994321e-10, + -3.2846279029996595e-09, + -0.07701390236616135 + ], + "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": [ + -4.5100319034929726e-09, + 1.0751532109054551e-08, + -5.356967449188232e-06 + ], + "angular_velocity": [ + 1.0769151970180246e-07, + -1.7653226223046659e-06, + -4.560801514230661e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.466313362121582, + 0.4748878479003906, + 0.9179999828338623 + ], + "ori": [ + 0.9620510935783386, + -2.1002845187467756e-06, + 7.495345677455134e-09, + 0.2728697955608368 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.886228452960495e-06, + -9.289434274251107e-06, + -1.8183141946792603e-05 + ], + "angular_velocity": [ + 8.858864748617634e-05, + 4.119343066122383e-05, + -2.994141323142685e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 2.0399999999999787, + "step": 408, + "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": 0.1996583388265337, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 348, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.542612463235855, + 0.4162185788154602, + 0.0 + ], + "carrier_2": [ + 0.051079362630844116, + 0.700003445148468, + 0.0 + ], + "carrier_3": [ + -0.19496574997901917, + 7.748603820800781e-07, + 0.0 + ], + "carrier_4": [ + 1.3267217576503754, + 0.027134716510772705, + 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 + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.39098759917914966, + 0.47114590047739147, + 2.9351502715971423 + ], + "ori": [ + -8.352863051371429, + -4.208266125370637, + -23.301692698119343 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5029.310580677124, + "color": [ + 0.9797093320841286, + 0.9286208543114907, + 0.8103539226217906 + ], + "intensity": 6444.12687731533, + "width": 2.018731173909283, + "height": 1.4413538336146492 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.7616790487059816, + -0.4447719761948985, + 1.6675537324840681 + ], + "ori": [ + -36.22465561147354, + -1.6580077731425362, + 26.329938654932818 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4369.370555504509, + "color": [ + 0.872074587305996, + 0.9715007627539902, + 0.9698209323661489 + ], + "intensity": 2077.9624310897752, + "radius": 0.07351212482961281 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 355.2356790902959, + "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 + ], + [ + 0.8514074087142944, + -1.5124846696853638, + 2.0300803184509277, + -2.0883326530456543, + -1.5707995891571045, + 2.3566112518310547, + 0.018000952899456024, + 0.017999067902565002 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.258660078048706, + -1.6012461185455322, + 2.1962435245513916, + -2.165817975997925, + -1.5707824230194092, + 2.878115653991699, + 0.007592068053781986, + 0.00702450517565012 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -0.01156736258417368, + 0.03733488917350769, + -0.010094529017806053, + -0.025105256587266922, + -4.094063842785545e-05, + -0.02202196791768074, + 2.020429019466974e-05, + -2.0450466763577424e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.009787211194634438, + -0.008287113159894943, + 0.0038559550885111094, + 0.004405895248055458, + -0.0002026411093538627, + 0.00712660001590848, + -0.007376654539257288, + 0.00021496346744243056 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05350127071142197, + -0.0004472852742765099, + -0.031714364886283875, + -0.27514365315437317, + 0.6562036275863647, + 0.6405141353607178, + -0.28885021805763245 + ], + [ + 0.048824243247509, + 0.0003745487192645669, + -0.032483574002981186, + -0.2970488965511322, + 0.6408007144927979, + 0.6493908166885376, + -0.28182974457740784 + ], + [ + 0.050997693091630936, + -0.0007828621892258525, + -0.03318751975893974, + -0.2831882834434509, + 0.6400149464607239, + 0.6577500104904175, + -0.2784782946109772 + ], + [ + 0.04847640171647072, + 0.00017617229605093598, + -0.03041965514421463, + -0.2787021994590759, + 0.6473671197891235, + 0.6486458778381348, + -0.2872270345687866 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e014/wrist.mp4 b/episodes/c5_p002_e014/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1eb382e06a665d036e2c95491b1be86fcd00ac13 --- /dev/null +++ b/episodes/c5_p002_e014/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e85c7ebd84daa78eebc343c32d9bae05a75ac611391661b23bf602a03ac80c6 +size 6998401 diff --git a/episodes/c5_p002_e015/data.npz b/episodes/c5_p002_e015/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..ce482e5599c74628dca49d48e40f90423747d5ac --- /dev/null +++ b/episodes/c5_p002_e015/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:314f22d7df50d73d1fc639e2b11e2905f381f78b4d5216bd260d3e3f91b2aa30 +size 187209 diff --git a/episodes/c5_p002_e015/device_events.jsonl b/episodes/c5_p002_e015/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..81ed80b4624bfe4f479ffa6dbb77c5eb98549c31 --- /dev/null +++ b/episodes/c5_p002_e015/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 0, "seq": 1, "step": 34, "t": 0.17, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 34, "t": 0.17, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 39, "t": 0.195, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1934, "t": 9.67, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 1958, "t": 9.79, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 6915, "t": 34.575, "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": 7528, "t": 37.64, "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": 7528, "t": 37.64, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.8083579341143519}, "cause": "task-0-1"} +{"env_id": 0, "seq": 9, "step": 7528, "t": 37.64, "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": 7528, "t": 37.64, "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": 7528, "t": 37.64, "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": 7947, "t": 39.735, "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": 7947, "t": 39.735, "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": 7947, "t": 39.735, "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": 7947, "t": 39.735, "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": 7947, "t": 39.735, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 7947, "t": 39.735, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 18, "step": 7947, "t": 39.735, "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": 7947, "t": 39.735, "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": 7947, "t": 39.735, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.8083579341143519}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8309, "t": 41.545, "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": 8309, "t": 41.545, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.810000000000926}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 8309, "t": 41.545, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.810000000000926}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 24, "step": 8309, "t": 41.545, "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": 8309, "t": 41.545, "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": 8309, "t": 41.545, "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": 8729, "t": 43.645, "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": 8729, "t": 43.645, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.751181670314963e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8729, "t": 43.645, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.751181670314963e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 8729, "t": 43.645, "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": 8729, "t": 43.645, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 8729, "t": 43.645, "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": 9311, "t": 46.555, "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": 11052, "t": 55.26, "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": 11052, "t": 55.26, "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": 11052, "t": 55.26, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 37, "step": 11052, "t": 55.26, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p002_e015/env.mp4 b/episodes/c5_p002_e015/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3c8f4a5e8e709115cffe242c5c6668385cfbea6c --- /dev/null +++ b/episodes/c5_p002_e015/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c5c22fa987339e0a07e39ac144f7a95cfc192ecbf844158fb43eb8b09079d84 +size 1231972 diff --git a/episodes/c5_p002_e015/meta.json b/episodes/c5_p002_e015/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f791495336fef6b3a1c6e086c48f04627c3ebe15 --- /dev/null +++ b/episodes/c5_p002_e015/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/15", + "fps": 25, + "frames": 1196, + "kept_ticks": "even", + "video_frames": { + "wrist": 1196, + "env": 1196 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e015/scene_snapshot.json b/episodes/c5_p002_e015/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..4eb64f911d72ef7cb68999b17e04b14751708d24 --- /dev/null +++ b/episodes/c5_p002_e015/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 15, + "env_id": 0, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.04624684052879e-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": 0.25060511027114074, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.12820064452246427, + "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": 0.25060511027114074, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.022347450256347656, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.5193616082219705e-09, + -2.703411938753675e-10, + -2.976302675961051e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4413470417196095e-09, + 8.489772218567282e-10, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -3.196702280661157e-08, + 1.3649412267113803e-07, + -1.4963040584348164e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.696852684020996, + 0.766596794128418, + 0.8999999761581421 + ], + "ori": [ + 0.7432257533073425, + 1.6656944268333973e-08, + -1.66995732797659e-08, + 0.6690407395362854 + ], + "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": [ + -7.538289992226055e-10, + 2.9547209123848006e-10, + 0.0 + ], + "angular_velocity": [ + -2.295564627274871e-09, + -1.2062037058058195e-07, + -9.940123391061206e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3989200592041016, + 0.8016538619995117, + 0.8999999761581421 + ], + "ori": [ + -0.70393967628479, + 5.149075477106635e-08, + 7.533354562383465e-08, + 0.710259735584259 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.316458550121752e-11, + -4.972093847754877e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 1.1626980267465115e-08, + -2.6988345780409873e-08, + 2.3910615709610283e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.46636962890625, + 1.1500043869018555, + 0.8999999761581421 + ], + "ori": [ + -6.830421625636518e-06, + -6.931036189428141e-09, + 1.0005816175606697e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.242157818940996e-10, + -4.703252010074266e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 2.4829631684042397e-07, + 7.848299077295451e-08, + 7.686795200356755e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.030321121215820312, + 0.45502567291259766, + 0.9179999828338623 + ], + "ori": [ + 0.9997456073760986, + 3.865415099113534e-09, + -2.590704761828988e-09, + -0.022554993629455566 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5965973432230385e-08, + -6.621332815370806e-09, + 1.4901161193847656e-07 + ], + "angular_velocity": [ + 7.998120281627052e-07, + -1.922100182127906e-06, + -2.9550136559919338e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 1.6955881118774414, + 0.7702045440673828, + 0.9180000424385071 + ], + "ori": [ + 0.7872598171234131, + 5.867541830184564e-08, + 3.400907999662195e-08, + 0.6166215538978577 + ], + "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": [ + 6.955258413654519e-08, + -8.011340923985699e-08, + 1.30385160446167e-07 + ], + "angular_velocity": [ + 3.3458454709034413e-06, + 1.3438593668979593e-06, + -3.286018852577399e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.396937370300293, + 0.7960824966430664, + 0.9180000424385071 + ], + "ori": [ + -0.771632969379425, + 6.213977599145437e-08, + 7.083566089249871e-08, + 0.6360681653022766 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.753552549478627e-09, + 6.611116987187415e-09, + 8.568167686462402e-08 + ], + "angular_velocity": [ + -1.383348717354238e-06, + -8.553543011657894e-07, + -3.3856849768199027e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.47934722900390625, + 1.1605157852172852, + 0.9179999828338623 + ], + "ori": [ + -0.004429582040756941, + -4.73244243792692e-09, + 1.9513682336658178e-10, + 0.9999902844429016 + ], + "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": [ + 5.266115721269671e-08, + -5.8078171605302487e-08, + -1.1920928955078125e-06 + ], + "angular_velocity": [ + 6.600730557693169e-07, + 2.4948401460278546e-06, + 1.40018670435893e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 7.579999999999861, + "step": 1516, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.04624684052879e-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": 0.25060511027114074, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1481, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.12765255570411682, + 2.682209014892578e-06, + 0.0 + ], + "carrier_2": [ + 1.5468526780605316, + 0.3165968060493469, + 0.0 + ], + "carrier_3": [ + -1.548920065164566, + 0.3516538739204407, + 0.0 + ], + "carrier_4": [ + 0.3163696229457855, + 0.7000043988227844, + 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": [ + 0.625780295387297, + 0.4441891910186244, + 3.053467963040282 + ], + "ori": [ + 14.511625308343735, + 4.843758767641113, + -14.87416321014005 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4536.95843147206, + "color": [ + 0.9702571913786251, + 0.8609468429414361, + 0.9969803723555433 + ], + "intensity": 6512.507606348856, + "width": 2.1910549980637444, + "height": 0.9588525919738229 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.4569963295009125, + -0.46050102578407004, + 2.463634690980334 + ], + "ori": [ + -25.478910219977013, + 8.187782139128828, + 5.7613833743507215 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4651.442462600526, + "color": [ + 0.7503278371253611, + 0.8086785490087494, + 0.818126298617047 + ], + "intensity": 2242.4288802304945, + "radius": 0.08457260565492308 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 355.2356790902959, + "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": [ + [ + 0.9141009449958801, + -1.7193976640701294, + 2.090498924255371, + -1.941900372505188, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.8231393694877625, + -1.4197499752044678, + 2.002687931060791, + -2.154235601425171, + -1.570664882659912, + 2.2993338108062744, + 0.00718333525583148, + 0.007849540561437607 + ], + [ + 1.034436821937561, + -1.573437213897705, + 2.17175030708313, + -2.169100761413574, + -1.5707920789718628, + 2.7594683170318604, + 0.007723207585513592, + 0.00714063411578536 + ], + [ + 2.7603752613067627, + -1.6449053287506104, + 2.260009288787842, + -2.1854147911071777, + -1.5705969333648682, + 4.33177375793457, + 0.01800001971423626, + 0.017999978736042976 + ] + ], + "joint_vel": [ + [ + 0.0, + -2.6842219606161024e-38, + -1.5069720630777087e-38, + -2.393003441136856e-37, + 2.3825600681496903e-37, + 3.6228121204363734e-37, + -2.6644636522691224e-38, + -3.326920214526665e-38 + ], + [ + -0.0007082989905029535, + -1.865136709966464e-06, + 0.0009505166090093553, + 0.0014054349157959223, + -0.0037012083921581507, + -0.010575727559626102, + -0.005700445268303156, + 0.00011613473179750144 + ], + [ + 0.0001426743547199294, + -9.243168278771918e-06, + -0.0003266411367803812, + 0.00010828654194483534, + 4.062978405272588e-06, + -0.00012368262105155736, + -0.00720993522554636, + 0.0003036060952581465 + ], + [ + -0.007475010119378567, + -0.021475892513990402, + 0.01913711614906788, + 0.0020639721769839525, + -1.2197470823593903e-05, + -0.007602468132972717, + -3.454089210208622e-06, + 3.454072384556639e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.053675681352615356, + -0.0005324502126313746, + -0.03225019946694374, + -0.2766704559326172, + 0.6553745865821838, + 0.6392544507980347, + -0.29204678535461426 + ], + [ + 0.047713153064250946, + -0.0019680969417095184, + -0.030616095289587975, + -0.29101863503456116, + 0.6460056304931641, + 0.6473118662834167, + -0.2810199558734894 + ], + [ + 0.05074312910437584, + 0.00042028914322145283, + -0.03207116574048996, + -0.2819342613220215, + 0.6418880224227905, + 0.6583486795425415, + -0.27398881316185 + ], + [ + 0.04752340167760849, + 0.002151099732145667, + -0.02740413509309292, + -0.2907322347164154, + 0.6440322399139404, + 0.6469943523406982, + -0.28652331233024597 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e015/wrist.mp4 b/episodes/c5_p002_e015/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9d55f598c60d6af5f854a46bb669c57f6464f51b --- /dev/null +++ b/episodes/c5_p002_e015/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:892b13e7da497280582f1a9308ed7d1702a67a3304ed75c2989d22db061203aa +size 6603054 diff --git a/episodes/c5_p002_e016/data.npz b/episodes/c5_p002_e016/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..1fd2536e35db8e17cc7f9ce529fad4100c97dcdb --- /dev/null +++ b/episodes/c5_p002_e016/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10fbd0022659b6b3a94e5e41bbb0a9c4fad4403d87228410e408f08b5219ab60 +size 203973 diff --git a/episodes/c5_p002_e016/device_events.jsonl b/episodes/c5_p002_e016/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..384d9261201deaa7b80dd1d290396b2fedcd7701 --- /dev/null +++ b/episodes/c5_p002_e016/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 95, "t": 0.475, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 95, "t": 0.475, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 100, "t": 0.5, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1716, "t": 8.58, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6727, "t": 33.635, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 7340, "t": 36.7, "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": 7340, "t": 36.7, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.2361538388205027}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 7340, "t": 36.7, "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": 7340, "t": 36.7, "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": 7340, "t": 36.7, "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": 7759, "t": 38.795, "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": 7759, "t": 38.795, "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": 7759, "t": 38.795, "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": 7759, "t": 38.795, "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": 7759, "t": 38.795, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7759, "t": 38.795, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 7759, "t": 38.795, "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": 7759, "t": 38.795, "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": 7759, "t": 38.795, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.2361538388205027}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 8207, "t": 41.035, "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": 8207, "t": 41.035, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.240000000001146}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8207, "t": 41.035, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.240000000001146}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 8207, "t": 41.035, "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": 8207, "t": 41.035, "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": 8207, "t": 41.035, "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": 8627, "t": 43.135, "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": 8627, "t": 43.135, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.7284575548615067e-08}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8627, "t": 43.135, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.7284575548615067e-08}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8627, "t": 43.135, "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": 8627, "t": 43.135, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8627, "t": 43.135, "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": 9202, "t": 46.01, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 33, "step": 11492, "t": 57.46, "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": 11492, "t": 57.46, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 11492, "t": 57.46, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 11492, "t": 57.46, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p002_e016/env.mp4 b/episodes/c5_p002_e016/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3a8efff630f0bc7a263d4539a491e7777727a611 --- /dev/null +++ b/episodes/c5_p002_e016/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ea80790c409b67cc260628cf1ebfe48e17e87517a46096cad4acbeb1c617eb5 +size 1432323 diff --git a/episodes/c5_p002_e016/meta.json b/episodes/c5_p002_e016/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..49a0b28a8decbfce8f866e7aba3d1a71aee94c28 --- /dev/null +++ b/episodes/c5_p002_e016/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/16", + "fps": 25, + "frames": 1283, + "kept_ticks": "even", + "video_frames": { + "wrist": 1283, + "env": 1283 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e016/scene_snapshot.json b/episodes/c5_p002_e016/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..22a0cc8b6d1b0f18fdfbdde07d75a0f94f12531f --- /dev/null +++ b/episodes/c5_p002_e016/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 16, + "env_id": 3, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5256032943725586, + 0.08841419219970703, + 0.8999999761581421 + ], + "ori": [ + 0.7292097806930542, + 0.0, + 0.0, + -0.6842902302742004 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.18818395548642916, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1430446151026983, + "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": 0.18818395548642916, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.006900787353515625, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.931830334063079e-10, + 2.841734347835967e-10, + 2.4347433281945996e-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": [ + 6.539599972654742e-10, + 6.687957965212377e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -8.555147701372334e-10, + 6.085018355861394e-08, + -1.889722156533935e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5115737915039062, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 5.5972843256313354e-05, + -8.64801563693618e-09, + -2.8473703395093253e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.483780013941896e-10, + 2.185659431219733e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.4205603804384737e-08, + 5.382150547461606e-08, + -5.254512380759024e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6648387908935547, + 0.6538572311401367, + 0.8999999761581421 + ], + "ori": [ + 0.8456584215164185, + 2.1017765305941793e-08, + -8.79786981045072e-08, + 0.5337244868278503 + ], + "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": [ + 4.2603320871137385e-10, + -8.596919010006587e-11, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -2.5472287390471138e-08, + 2.5235642908683076e-08, + -3.119326130729405e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1025362014770508, + 1.1428747177124023, + 0.8999999761581421 + ], + "ori": [ + -0.07485274970531464, + 1.2464299459225003e-07, + 1.0915114145859661e-08, + 0.9971945881843567 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.461444298911374e-09, + -1.018022999232926e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + -1.2751115718856454e-08, + 3.437744453549385e-07, + 4.031784328617505e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -0.007579803466796875, + 0.4582653045654297, + 0.9179999828338623 + ], + "ori": [ + 0.9949737191200256, + -9.269460754524061e-10, + 2.349204719642728e-10, + -0.10013613104820251 + ], + "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": [ + -1.565748775078646e-08, + -9.687449065154397e-09, + 1.4901161193847656e-07 + ], + "angular_velocity": [ + 7.769908734189812e-07, + -2.1358084723033244e-06, + -5.716663054045057e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.5069894790649414, + 1.1392841339111328, + 0.9180000424385071 + ], + "ori": [ + 0.0400041788816452, + -7.400007717706103e-09, + -2.1315804676902417e-09, + 0.9991995692253113 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.838705010470676e-08, + 1.4154140082212052e-09, + -4.928559064865112e-06 + ], + "angular_velocity": [ + -7.067381488923274e-07, + 1.6954062402874115e-06, + 7.277427727103714e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 1.6558856964111328, + 0.6517648696899414, + 0.9180000424385071 + ], + "ori": [ + 0.8764960765838623, + 2.5936740755128085e-08, + -8.717121602330735e-08, + 0.4814092218875885 + ], + "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": [ + 7.088844622415991e-09, + -2.239174001772426e-08, + -5.777925252914429e-06 + ], + "angular_velocity": [ + 2.0765653516718885e-06, + 1.8557017256171093e-07, + 6.367733007550669e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.1136808395385742, + 1.1505823135375977, + 0.9179999828338623 + ], + "ori": [ + -0.04319845512509346, + 1.3195877102134546e-07, + 5.999949426183093e-09, + 0.9990664720535278 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.0678870643896516e-07, + 1.0693264584915596e-07, + 2.1606683731079102e-07 + ], + "angular_velocity": [ + 1.2951622920809314e-06, + 7.420559995807707e-06, + 4.731435865323874e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 6.379999999999886, + "step": 1276, + "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": 0.18818395548642916, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1180, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.14309921860694885, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_2": [ + 0.3615737855434418, + 0.6999967694282532, + 0.0 + ], + "carrier_3": [ + 1.5148387849330902, + 0.20385724306106567, + 0.0 + ], + "carrier_4": [ + -1.2525362074375153, + 0.6928747296333313, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.22765663946328052, + 0.04947795779997699, + 2.6142815935888515 + ], + "ori": [ + 4.8622713350023865, + -8.09854269854562, + -28.56183288431748 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4123.339796290098, + "color": [ + 0.954392587603173, + 0.8733443964260067, + 0.8578634711509687 + ], + "intensity": 13698.415383216145, + "width": 2.380493032774226, + "height": 0.9323085198776966 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.7423200700221808, + -0.4622537628919765, + 2.675803383840371 + ], + "ori": [ + -14.579340035415598, + -28.679374836049174, + -33.183134032637795 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4362.791444946945, + "color": [ + 0.8391747653637078, + 0.9855675158822206, + 0.8253801360255166 + ], + "intensity": 2537.7473582062294, + "radius": 0.13120696600824713 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 355.2356790902959, + "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": [ + [ + 0.9261658787727356, + -1.7432767152786255, + 2.2383291721343994, + -2.065953493118286, + -1.571081519126892, + 5.638639450073242, + 0.007689674850553274, + 0.00710754469037056 + ], + [ + 1.3399696350097656, + -1.413966417312622, + 2.260246515274048, + -2.416468381881714, + -1.57120680809021, + 6.029718399047852, + 0.01800004206597805, + 0.017999958246946335 + ], + [ + 1.6829142570495605, + -1.2598336935043335, + 2.176536798477173, + -2.4923202991485596, + -1.5718873739242554, + 0.11576284468173981, + 0.007689162157475948, + 0.007104068994522095 + ], + [ + 0.914109468460083, + -1.7193952798843384, + 2.0904974937438965, + -1.941900610923767, + -1.5707999467849731, + 2.4849045276641846, + 0.01799999549984932, + 0.018000002950429916 + ] + ], + "joint_vel": [ + [ + 0.07280196249485016, + 0.02976008504629135, + -0.011609074659645557, + -0.017764389514923096, + -0.00013909238623455167, + 0.07284597307443619, + -0.0075432294979691505, + 0.00043557691969908774 + ], + [ + 0.00015870675269979984, + -0.019561463966965675, + -0.008410215377807617, + 0.026699310168623924, + -5.738598247262416e-06, + -2.803027382469736e-05, + -8.994738891487941e-06, + 8.970954695541877e-06 + ], + [ + 9.800049883779138e-05, + 0.013098403811454773, + 0.004702079109847546, + -0.01768568903207779, + -0.0003553020360413939, + -0.001728563685901463, + -0.007254190742969513, + 0.0003282993857283145 + ], + [ + 0.0, + -2.460115660332949e-38, + -1.6958760643788657e-38, + -3.611392995302529e-37, + 5.981749435386107e-37, + -2.7008880404574383e-36, + 5.1980777016069624e-08, + -5.198078412149698e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05454820767045021, + 0.003436109982430935, + -0.03306128829717636, + -0.28127312660217285, + 0.6539409160614014, + 0.6415743231773376, + -0.2857080101966858 + ], + [ + 0.04822655767202377, + 0.001130912802182138, + -0.03298990800976753, + -0.2922038733959198, + 0.6458580493927002, + 0.6490925550460815, + -0.27597668766975403 + ], + [ + 0.05129985138773918, + 0.0008002194226719439, + -0.03208821639418602, + -0.2797303795814514, + 0.644166111946106, + 0.6589038968086243, + -0.2695302963256836 + ], + [ + 0.047783080488443375, + -0.00010561077215243131, + -0.02638319320976734, + -0.289324551820755, + 0.6479715704917908, + 0.6442012786865234, + -0.2853574752807617 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e016/wrist.mp4 b/episodes/c5_p002_e016/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5b4feba415a928bb290ba29be5722b6207b57fe5 --- /dev/null +++ b/episodes/c5_p002_e016/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34450dbe8c89f9e312bfcc335e947a9cc7ef60f706785548b98eb3bd15068c93 +size 7914817 diff --git a/episodes/c5_p002_e017/data.npz b/episodes/c5_p002_e017/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..0e3a40c6663e69267063cb7ddf7c4a8312edf0d7 --- /dev/null +++ b/episodes/c5_p002_e017/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf22044107eb78a78c052199793be01ebe4ade89373daf584bf2a9eeee3ae9ba +size 189939 diff --git a/episodes/c5_p002_e017/device_events.jsonl b/episodes/c5_p002_e017/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f316705c3356524e5af057a7b66943c8e886812e --- /dev/null +++ b/episodes/c5_p002_e017/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 168, "t": 0.84, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 168, "t": 0.84, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 173, "t": 0.865, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 5655, "t": 28.275, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6268, "t": 31.34, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 6268, "t": 31.34, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.0784951181441813}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6268, "t": 31.34, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 6268, "t": 31.34, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 6268, "t": 31.34, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 6687, "t": 33.435, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 6687, "t": 33.435, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 6687, "t": 33.435, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 6687, "t": 33.435, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 6687, "t": 33.435, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 6687, "t": 33.435, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6687, "t": 33.435, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 6687, "t": 33.435, "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": 6687, "t": 33.435, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.0784951181441813}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7303, "t": 36.515, "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": 7303, "t": 36.515, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.0800000000015757}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7303, "t": 36.515, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.0800000000015757}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7303, "t": 36.515, "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": 7303, "t": 36.515, "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": 7303, "t": 36.515, "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": 7723, "t": 38.615, "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": 7723, "t": 38.615, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.3040661640579856e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 7723, "t": 38.615, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.3040661640579856e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 7723, "t": 38.615, "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": 7723, "t": 38.615, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 7723, "t": 38.615, "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": 8302, "t": 41.51, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10024, "t": 50.12, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 33, "step": 10024, "t": 50.12, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10024, "t": 50.12, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10024, "t": 50.12, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p002_e017/env.mp4 b/episodes/c5_p002_e017/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8e5a5afba3dcc547729d32aeb509b238bcfbe190 --- /dev/null +++ b/episodes/c5_p002_e017/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:653cb8feb90a1029034ae5340879421e97809a0a0aafd6545de0572f5ffe8e0d +size 1352484 diff --git a/episodes/c5_p002_e017/meta.json b/episodes/c5_p002_e017/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b792164142a30262626f232ff8fd51a7d4cf66f5 --- /dev/null +++ b/episodes/c5_p002_e017/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/17", + "fps": 25, + "frames": 1230, + "kept_ticks": "even", + "video_frames": { + "wrist": 1230, + "env": 1230 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e017/scene_snapshot.json b/episodes/c5_p002_e017/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..def6a1c187b6539d2bf750d4e4f7cce42b63ee10 --- /dev/null +++ b/episodes/c5_p002_e017/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 17, + "env_id": 1, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.3549166089376072e-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": 0.24854022452450908, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.04749685274499543, + "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": 0.24854022452450908, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.10317134857177734, + 0.4474296569824219, + 0.8999999761581421 + ], + "ori": [ + 0.9999380111694336, + -1.6669700286797706e-08, + 2.463334247693183e-08, + 0.011135250329971313 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.461231301571388e-10, + -3.456409380930836e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.2205519794861175e-07, + 3.90942815897688e-08, + 1.5474632686363066e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3888769149780273, + 0.8758306503295898, + 0.8999999761581421 + ], + "ori": [ + -0.6185951828956604, + 5.613508591295613e-08, + 3.254341862657384e-08, + 0.7857098579406738 + ], + "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": [ + -5.108491407668225e-10, + 1.1827583357160165e-10, + 0.0 + ], + "angular_velocity": [ + 2.649461094961225e-09, + -2.370794582873259e-08, + -4.853281332373172e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6810989379882812, + 0.6954431533813477, + 0.8999999761581421 + ], + "ori": [ + 0.8121228814125061, + 3.4816046934338374e-08, + -1.974291485851154e-08, + 0.5834863781929016 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0534863259525906e-10, + 1.429958929044517e-10, + 0.0 + ], + "angular_velocity": [ + -4.319019808463054e-09, + 5.432549698980438e-08, + 9.366663888954463e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.0798187255859375, + 1.1536216735839844, + 0.8999999761581421 + ], + "ori": [ + 0.0018216390162706375, + 8.109072524575822e-09, + 2.0563839520093552e-10, + 0.9999983906745911 + ], + "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": [ + 6.152291120997688e-09, + 1.3877693660901969e-08, + 5.587935447692871e-08 + ], + "angular_velocity": [ + -3.298817716768099e-07, + 5.44044496564311e-07, + -7.611421892761427e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.11580467224121094, + 0.45542430877685547, + 0.9179999828338623 + ], + "ori": [ + 0.9957438111305237, + -1.9330265388362022e-08, + 2.1793633564470838e-08, + -0.09216508269309998 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.7256586321300347e-08, + -6.02309810915358e-08, + 1.7508864402770996e-07 + ], + "angular_velocity": [ + 1.504949977970682e-06, + -2.505592192392214e-06, + -1.1967134128099133e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.3958864212036133, + 0.8751611709594727, + 0.9180000424385071 + ], + "ori": [ + -0.5342534184455872, + 5.323453677874568e-08, + 3.930290048970164e-08, + 0.8453243374824524 + ], + "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": [ + 9.484919516467016e-09, + 9.756394803162038e-09, + -5.342066287994385e-06 + ], + "angular_velocity": [ + -1.0149620948141092e-06, + 5.259779527477804e-07, + -2.4881785520847188e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.690903663635254, + 0.7057094573974609, + 0.9179999828338623 + ], + "ori": [ + 0.8287523984909058, + 3.6087531185557964e-08, + -1.8842568394461523e-08, + 0.5596156120300293 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.1914548398171974e-08, + -8.971250409217646e-09, + -5.457550287246704e-06 + ], + "angular_velocity": [ + 2.093249122481211e-06, + 4.6754706772844656e-08, + 1.4843512019524496e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -0.08021163940429688, + 1.1465940475463867, + 0.9179999828338623 + ], + "ori": [ + 0.0658067986369133, + 9.893771135693896e-09, + 1.3946488408578261e-09, + 0.9978324174880981 + ], + "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": [ + 1.2339073407474643e-07, + 9.784469057194656e-08, + 3.650784492492676e-07 + ], + "angular_velocity": [ + -2.9227487630123505e-06, + 5.647840225719847e-06, + 4.425509203542788e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 1.0999999999999985, + "step": 220, + "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": 2.3549166089376072e-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": 0.24854022452450908, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 51, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.046828657388687134, + -0.00257033109664917, + 0.0 + ], + "carrier_2": [ + -1.5388769209384918, + 0.4258306622505188, + 0.0 + ], + "carrier_3": [ + 1.5310989320278168, + 0.2454431653022766, + 0.0 + ], + "carrier_4": [ + -0.22981873154640198, + 0.7036216855049133, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.5608819653507208, + 0.4621403086810453, + 3.0229704483023183 + ], + "ori": [ + -12.063532365341576, + -13.453246303696282, + 6.83391736813951 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3883.2987471546558, + "color": [ + 0.8869127256489366, + 0.976770316252731, + 0.8625936465152622 + ], + "intensity": 4289.528878286004, + "width": 2.145363186684969, + "height": 1.8398436278993886 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.8842079081554894, + 0.3778960076471758, + 2.6675278029537757 + ], + "ori": [ + -15.46285974128483, + 13.318264752204186, + -19.18903368307018 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6252.316065737277, + "color": [ + 0.9883088346384099, + 0.7883874437834604, + 0.9110565160246462 + ], + "intensity": 8072.919061214771, + "radius": 0.17003543131148527 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 355.2356790902959, + "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": [ + [ + 1.5358340740203857, + -1.284363865852356, + 2.240508794784546, + -2.527198553085327, + -1.5712653398513794, + 6.247211456298828, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 0.9141017198562622, + -1.719397783279419, + 2.090498685836792, + -1.9419000148773193, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.6831773519515991, + -1.4460493326187134, + 2.0807933807373047, + -2.211118698120117, + -1.5722341537475586, + 0.11557553708553314, + 0.018000029027462006, + 0.01799997128546238 + ], + [ + 0.9771763682365417, + -1.305328369140625, + 2.286623954772949, + -2.5521247386932373, + -1.570786952972412, + 2.748610496520996, + 0.007624570745974779, + 0.0070499577559530735 + ] + ], + "joint_vel": [ + [ + -6.811928415118018e-06, + 3.4059173685818678e-06, + 6.811928415118018e-06, + -5.706890689183286e-12, + -3.405977395232185e-06, + 1.3623913218907546e-05, + 1.8195467532677867e-07, + 1.8193331641214172e-07 + ], + [ + 2.1748875236328753e-38, + -2.1523961227610762e-38, + -1.830290855154445e-38, + -3.328403797236815e-37, + 5.7533871114071064e-37, + 3.347851802051855e-37, + 3.0760328585127214e-38, + -3.448508079679201e-38 + ], + [ + 0.0001278767449548468, + -0.013830918818712234, + -0.010918233543634415, + 0.02342599257826805, + -6.4813239077921025e-06, + -6.2846999071553e-07, + -7.178120540629607e-06, + 7.1545941864314955e-06 + ], + [ + -0.00038688909262418747, + -6.0908798332093284e-05, + 0.00011670616368064657, + -0.00034649422741495073, + 0.00012219740892760456, + 0.00032821312197484076, + -0.007415508385747671, + 0.0002994767564814538 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.052544888108968735, + 0.0023427235428243876, + -0.030873356387019157, + -0.2781633734703064, + 0.6576025485992432, + 0.6395522952079773, + -0.28488048911094666 + ], + [ + 0.050067171454429626, + -0.0014980450505390763, + -0.031219283118844032, + -0.2959805130958557, + 0.6352542042732239, + 0.6547350287437439, + -0.2831425964832306 + ], + [ + 0.050557851791381836, + -0.000663279730360955, + -0.032358184456825256, + -0.2894458472728729, + 0.6436555981636047, + 0.6547054648399353, + -0.27072009444236755 + ], + [ + 0.0491240918636322, + -0.0015717027708888054, + -0.02785468101501465, + -0.28624671697616577, + 0.6450120210647583, + 0.645882785320282, + -0.291303426027298 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e017/wrist.mp4 b/episodes/c5_p002_e017/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5c14951f401795ba81dd9b883b22e17ad1c108e8 --- /dev/null +++ b/episodes/c5_p002_e017/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5dbc82059c777a42c9ab6cfaf27943631231debb8fbe93139a3c1246e00a629 +size 7071599 diff --git a/episodes/c5_p002_e018/data.npz b/episodes/c5_p002_e018/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..59a55143f878b482fa48a74a4e2a5e12c6384e82 --- /dev/null +++ b/episodes/c5_p002_e018/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d64711d4c576deb7c60227105e8aa2c824cf762028c589b3da9fef4baf2112f8 +size 188449 diff --git a/episodes/c5_p002_e018/device_events.jsonl b/episodes/c5_p002_e018/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9101031e46e514aba702a70e4672a781a0984d5d --- /dev/null +++ b/episodes/c5_p002_e018/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 122, "t": 0.61, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 122, "t": 0.61, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 127, "t": 0.635, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 5838, "t": 29.19, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6448, "t": 32.24, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 6, "step": 6448, "t": 32.24, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.7225356741061475}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6448, "t": 32.24, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 8, "step": 6448, "t": 32.24, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 6448, "t": 32.24, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 6867, "t": 34.335, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 6867, "t": 34.335, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 6867, "t": 34.335, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 6867, "t": 34.335, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 6867, "t": 34.335, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 6867, "t": 34.335, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 6867, "t": 34.335, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 17, "step": 6867, "t": 34.335, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 6867, "t": 34.335, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.7225356741061475}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7612, "t": 38.06, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 7612, "t": 38.06, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.7250000000019057}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7612, "t": 38.06, "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": 3.7250000000019057}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7612, "t": 38.06, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 23, "step": 7612, "t": 38.06, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 7612, "t": 38.06, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 8032, "t": 40.16, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 8032, "t": 40.16, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.4793521074807359e-07}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8032, "t": 40.16, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.4793521074807359e-07}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8032, "t": 40.16, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8032, "t": 40.16, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8032, "t": 40.16, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8611, "t": 43.055, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 10344, "t": 51.72, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 33, "step": 10344, "t": 51.72, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10344, "t": 51.72, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10344, "t": 51.72, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p002_e018/env.mp4 b/episodes/c5_p002_e018/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c5304d0ae15c990f090929a4438202aceef66e71 --- /dev/null +++ b/episodes/c5_p002_e018/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:452435e9d1e12071da8852a9cd390543846676a23fa2d58e127502fe8c7f1da4 +size 1357386 diff --git a/episodes/c5_p002_e018/meta.json b/episodes/c5_p002_e018/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3c34b25c73c343f8549764633fdd0dc00d260a7f --- /dev/null +++ b/episodes/c5_p002_e018/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/18", + "fps": 25, + "frames": 1257, + "kept_ticks": "even", + "video_frames": { + "wrist": 1257, + "env": 1257 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e018/scene_snapshot.json b/episodes/c5_p002_e018/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..fd16eb9d604a2251c127f095bee653a1a558ecdb --- /dev/null +++ b/episodes/c5_p002_e018/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 18, + "env_id": 2, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48097991943359375, + 0.1065673828125, + 0.8999999761581421 + ], + "ori": [ + 0.726047158241272, + 0.0, + 0.0, + -0.687644898891449 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.0092503005196263e-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": 0.19031159349459076, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.041505371189887896, + "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": 0.19031159349459076, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3447303771972656, + 0.9830560684204102, + 0.8999999761581421 + ], + "ori": [ + -0.4820598065853119, + 8.28920647677478e-08, + -1.8896299636139702e-08, + 0.8761383295059204 + ], + "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": [ + 2.0114293564077457e-10, + 1.1955769707583386e-10, + 0.0 + ], + "angular_velocity": [ + -5.114722867460841e-09, + 2.2174230451810217e-08, + -1.38391564874496e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.13920974731445312, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + -7.493791599699762e-06, + -5.37608679795909e-10, + -1.4010817506182605e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.411904506289147e-11, + -9.500512598847877e-10, + 0.0 + ], + "angular_velocity": [ + 9.835018488502101e-08, + 1.313835795713203e-08, + -7.516232969351222e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.10855484008789062, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.935612559123001e-09, + -9.775333875694514e-10, + 2.7103851607535034e-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": [ + -8.261837880496614e-10, + 6.694621523806177e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 2.4245085938900957e-08, + -7.579788530165388e-08, + 6.8922831886197855e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.677769660949707, + 0.6851787567138672, + 0.8999999761581421 + ], + "ori": [ + 0.8174766302108765, + -1.1518114462205631e-08, + 3.456626629372295e-08, + 0.5759617686271667 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.05708277873407e-10, + 3.149486227371767e-11, + 0.0 + ], + "angular_velocity": [ + 1.0764816593678006e-08, + -2.1109309855660285e-08, + 1.0672735584194015e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.3501100540161133, + 0.9913320541381836, + 0.9179999828338623 + ], + "ori": [ + -0.5347996950149536, + 7.869665807902493e-08, + -2.21075175943497e-08, + 0.844978928565979 + ], + "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": [ + 3.6297194583312375e-08, + 2.0795183353072844e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + -3.7045043654870824e-07, + 4.6758034955018957e-07, + 1.676156813346097e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.13282012939453125, + 1.141840934753418, + 0.9180000424385071 + ], + "ori": [ + -0.013997796922922134, + -8.548676766473307e-10, + 2.0642554332539476e-09, + 0.999902069568634 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4458418462481859e-08, + -5.433258287723675e-10, + -5.111098289489746e-06 + ], + "angular_velocity": [ + -8.229222316913365e-07, + 1.5874531982262852e-06, + 4.4843382340786775e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.11247634887695312, + 0.4479188919067383, + 0.9180000424385071 + ], + "ori": [ + 0.9982654452323914, + -2.370196927614643e-09, + -1.2720938746824118e-09, + -0.05887339636683464 + ], + "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": [ + -1.586368725270404e-08, + 1.991532272427321e-08, + -5.125999450683594e-06 + ], + "angular_velocity": [ + -3.3427249945816584e-07, + -1.5946138773870189e-06, + 1.108444038777634e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.6887359619140625, + 0.6890115737915039, + 0.9179999828338623 + ], + "ori": [ + 0.777649998664856, + -1.1152161860650267e-08, + 3.382346136504566e-08, + 0.628697395324707 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7827835563366534e-07, + -6.114024131420592e-08, + -1.5795230865478516e-06 + ], + "angular_velocity": [ + 2.2370199985743966e-06, + -6.482111530203838e-06, + 2.2701033230987377e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 1.6599999999999866, + "step": 332, + "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": 1.0092503005196263e-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": 0.19031159349459076, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 209, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.49473038315773, + 0.5330560803413391, + 0.0 + ], + "carrier_2": [ + -0.2892097532749176, + 0.699998676776886, + 0.0 + ], + "carrier_3": [ + -0.04144516587257385, + 7.748603820800781e-07, + 0.0 + ], + "carrier_4": [ + 1.5277696549892426, + 0.23517876863479614, + 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 + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.19659088314533568, + 0.3664121602124032, + 2.7219047377408594 + ], + "ori": [ + 3.933858685086342, + -3.4766934771967737, + -14.49932687266906 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4516.533979329396, + "color": [ + 0.8984959841402403, + 0.9833006681639654, + 0.9466055479803852 + ], + "intensity": 6174.95529245418, + "width": 1.833088484580917, + "height": 1.8966627615352203 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.317333981770954, + 1.5930388692586954, + 2.522653830817517 + ], + "ori": [ + 21.325332783381008, + -30.18601534629548, + 35.214224534818584 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6450.044713154276, + "color": [ + 0.956211043117124, + 0.8161599513585189, + 0.9533789384152261 + ], + "intensity": 2657.990906494417, + "radius": 0.2309833480628532 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 355.2356790902959, + "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": [ + [ + 1.5358338356018066, + -1.5663379430770874, + 2.065463066101074, + -2.070178508758545, + -1.5712651014328003, + 6.24721097946167, + 0.01799999177455902, + 0.018000006675720215 + ], + [ + 0.7674838900566101, + -1.2177120447158813, + 2.1489360332489014, + -2.501955509185791, + -1.5708547830581665, + 2.522651433944702, + 0.007683491334319115, + 0.007031565997749567 + ], + [ + 0.9141019582748413, + -1.7193989753723145, + 2.0904998779296875, + -1.9419008493423462, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9770494699478149, + -1.5580666065216064, + 2.155984401702881, + -2.16909122467041, + -1.5708063840866089, + 2.7486517429351807, + 0.007995685562491417, + 0.0068913474678993225 + ] + ], + "joint_vel": [ + [ + -1.0217893759545404e-05, + -3.405921688681701e-06, + -6.8119352363282815e-06, + 6.81196024743258e-06, + -1.0217934686806984e-05, + 2.724782461882569e-05, + 1.040007262531617e-07, + -1.0395667260354458e-07 + ], + [ + -0.00018126246868632734, + 2.3270938982022926e-05, + -0.0003045270568691194, + -0.0018841560231521726, + 0.00193613744340837, + 0.007064379286020994, + -0.008742564357817173, + 0.00039539928548038006 + ], + [ + -2.5846944569277394e-38, + 1.5931365043505774e-38, + 3.4556255548391996e-38, + 5.593574066225333e-37, + -3.242510479190824e-38, + 4.4623800287425784e-37, + 2.5990399166175848e-08, + -2.5990386731677972e-08 + ], + [ + 0.0007558283396065235, + 0.0005039100651629269, + 0.00044997737859375775, + 0.0005419791559688747, + -2.438249248370994e-05, + -0.0005992110818624496, + -0.0055069392547011375, + 0.00013777532149106264 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.051341403275728226, + 0.002297254279255867, + -0.031338129192590714, + -0.27286607027053833, + 0.6560921669006348, + 0.6432095170021057, + -0.28525200486183167 + ], + [ + 0.04862536862492561, + -0.0003364763979334384, + -0.03362979739904404, + -0.2979086935520172, + 0.6393677592277527, + 0.650166928768158, + -0.2823866605758667 + ], + [ + 0.051422376185655594, + 0.0019261962734162807, + -0.030327366665005684, + -0.2870377004146576, + 0.6391083598136902, + 0.6589097380638123, + -0.2738390564918518 + ], + [ + 0.04817387834191322, + -0.0014668081421405077, + -0.02563866227865219, + -0.2808694541454315, + 0.6467140913009644, + 0.6485368609428406, + -0.2868330776691437 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e018/wrist.mp4 b/episodes/c5_p002_e018/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c30afb6ad3d0284eaf9848b9f0d1fcd9d026ce38 --- /dev/null +++ b/episodes/c5_p002_e018/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:910b530ffe0b7d6555794c5148e920a658f223865a78d40d67bf867cd98fa821 +size 6730157 diff --git a/episodes/c5_p002_e019/data.npz b/episodes/c5_p002_e019/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..a30fb9ba9b37e75bea36c5df29a1b45e10b48c9c --- /dev/null +++ b/episodes/c5_p002_e019/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b1295ca5ec349b88dc105cf4a840dbc5f49e9db659d729d499025d28532e462 +size 188611 diff --git a/episodes/c5_p002_e019/device_events.jsonl b/episodes/c5_p002_e019/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f5f0cb235f0b0ad128a311de0190b0db3648632c --- /dev/null +++ b/episodes/c5_p002_e019/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 109, "t": 0.545, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 109, "t": 0.545, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 114, "t": 0.57, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1810, "t": 9.05, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6767, "t": 33.835, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 7380, "t": 36.9, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7380, "t": 36.9, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.0680270324066496}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 7380, "t": 36.9, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 9, "step": 7380, "t": 36.9, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 10, "step": 7380, "t": 36.9, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 11, "step": 7799, "t": 38.995, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 12, "step": 7799, "t": 38.995, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 7799, "t": 38.995, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7799, "t": 38.995, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 7799, "t": 38.995, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7799, "t": 38.995, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 7799, "t": 38.995, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 18, "step": 7799, "t": 38.995, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 19, "step": 7799, "t": 38.995, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.0680270324066496}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 8213, "t": 41.065, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 21, "step": 8213, "t": 41.065, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.070000000001059}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8213, "t": 41.065, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.070000000001059}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 8213, "t": 41.065, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 24, "step": 8213, "t": 41.065, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 25, "step": 8213, "t": 41.065, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 26, "step": 8633, "t": 43.165, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 27, "step": 8633, "t": 43.165, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8633, "t": 43.165, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8633, "t": 43.165, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 8633, "t": 43.165, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8633, "t": 43.165, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 9215, "t": 46.075, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 33, "step": 10956, "t": 54.78, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 10956, "t": 54.78, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 10956, "t": 54.78, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 10956, "t": 54.78, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p002_e019/env.mp4 b/episodes/c5_p002_e019/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3d36779045b291d6c2eae480144ee2a6426d368d --- /dev/null +++ b/episodes/c5_p002_e019/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab6c3a265cd0987a064064ff37c297b04109637c03972779e9d0d67880159d6e +size 1160052 diff --git a/episodes/c5_p002_e019/meta.json b/episodes/c5_p002_e019/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f30b369e6b508fd9226360045d201188b28f1010 --- /dev/null +++ b/episodes/c5_p002_e019/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/19", + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e019/scene_snapshot.json b/episodes/c5_p002_e019/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..18122952879197c2dc3bfbd40c68a0c65b126b29 --- /dev/null +++ b/episodes/c5_p002_e019/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 19, + "env_id": 0, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.364167397348211e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.19103135596987164, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.13533920122392512, + "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": 0.19103135596987164, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3007335662841797, + 1.039860725402832, + 0.8999999761581421 + ], + "ori": [ + -0.3903091847896576, + -1.1352862117064433e-07, + -4.813182030716234e-08, + 0.9206839203834534 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.81555240128273e-09, + -5.367390976118713e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 3.265376449235191e-07, + 4.1742160306057485e-07, + 1.8141824043027555e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.014690399169921875, + 0.45000457763671875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.9392609740265243e-09, + -5.955209103625236e-10, + -3.323239798191935e-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": [ + 1.4462246955559976e-09, + 1.0265502892181644e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -2.6973182798428752e-08, + 1.2704352059245139e-07, + -2.089293360540978e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.08721542358398438, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 1.5903713574516587e-05, + -7.574600502380235e-09, + -4.499185024542385e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8964714243452363e-09, + 1.6654723822284723e-08, + -7.450580596923828e-09 + ], + "angular_velocity": [ + -1.5640936226191116e-06, + 9.873809858618188e-08, + 1.2365099166800064e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.563730239868164, + 0.5266408920288086, + 0.8999999761581421 + ], + "ori": [ + 0.9463475942611694, + -3.957204341986653e-09, + 1.2491794620927976e-07, + 0.3231505751609802 + ], + "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": [ + 1.0833482519956306e-06, + 6.414296649381868e-07, + -3.2223761081695557e-06 + ], + "angular_velocity": [ + -5.7342251238878816e-05, + 9.301986574428156e-05, + -4.855824187188773e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -1.3072013854980469, + 1.0346460342407227, + 0.9179999828338623 + ], + "ori": [ + -0.4470274746417999, + -1.1463423987834176e-07, + -3.9676262275634144e-08, + 0.8945202827453613 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.7603808067387945e-08, + 3.147149030269247e-08, + 1.0803341865539551e-07 + ], + "angular_velocity": [ + -2.2046394860808505e-06, + 1.0723314289862174e-06, + 1.0525084803703066e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.011219978332519531, + 0.44289684295654297, + 0.9180000424385071 + ], + "ori": [ + 0.9997854232788086, + -3.186465258320226e-10, + -7.794385692427852e-10, + -0.020719222724437714 + ], + "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": [ + -6.089085680116568e-09, + 1.7950704034319642e-08, + -5.558133125305176e-06 + ], + "angular_velocity": [ + 2.130782306153378e-08, + -1.5152455716815894e-06, + -2.365741735843585e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -0.09058094024658203, + 1.1596364974975586, + 0.9180000424385071 + ], + "ori": [ + 0.04668763652443886, + -2.055033476722201e-08, + -1.5577211343043018e-07, + 0.9989095330238342 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.136184987961315e-07, + 4.017696028313367e-06, + -6.645917892456055e-06 + ], + "angular_velocity": [ + 1.7840564396465197e-05, + -1.2289518053876236e-05, + -2.800206493702717e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.5674457550048828, + 0.5229225158691406, + 0.9179999828338623 + ], + "ori": [ + 0.9609804749488831, + -9.004750722851895e-09, + 9.673364331774792e-08, + 0.2766161262989044 + ], + "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": [ + 3.2911957532633096e-06, + 2.0084576135559473e-06, + -4.94346022605896e-06 + ], + "angular_velocity": [ + -5.9343456086935475e-05, + 9.682662494014949e-05, + 2.406218300166074e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 6.939999999999874, + "step": 1388, + "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": 3.364167397348211e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.19103135596987164, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1278, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.4507335722446442, + 0.589860737323761, + 0.0 + ], + "carrier_2": [ + -0.1353096067905426, + 4.589557647705078e-06, + 0.0 + ], + "carrier_3": [ + -0.23721542954444885, + 0.6999967694282532, + 0.0 + ], + "carrier_4": [ + 1.4137302339076996, + 0.07664090394973755, + 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": [ + -0.4420721529824843, + 0.5596242027284781, + 3.1266706835870397 + ], + "ori": [ + 5.674743840549663, + -1.7686504728898598, + -17.436706003804257 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5291.094994253353, + "color": [ + 0.8506729265513324, + 0.8147833448967272, + 0.9954000507683313 + ], + "intensity": 12717.843130859825, + "width": 2.187366539531813, + "height": 1.6668513815593597 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.3652935927481178, + 1.008878415827961, + 2.7766254545456537 + ], + "ori": [ + 10.368723340488188, + 7.129638301475069, + 13.745678028652662 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 2877.771281262147, + "color": [ + 0.9339172862837853, + 0.8343722051554721, + 0.8488016991579022 + ], + "intensity": 2534.3449882284112, + "radius": 0.12313519800911546 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1101.438818103476, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141025543212891, + -1.7193982601165771, + 2.0904998779296875, + -1.941901445388794, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 2.600351333618164, + -2.010497570037842, + 2.503582239151001, + -2.064021587371826, + -1.5701912641525269, + 4.168736934661865, + 0.007759221363812685, + 0.007052270229905844 + ], + [ + 1.1774797439575195, + -1.7127219438552856, + 2.0982816219329834, + -1.9561562538146973, + -1.570826530456543, + 2.8356101512908936, + 0.007781139574944973, + 0.007143366150557995 + ], + [ + 2.8047995567321777, + -1.61177659034729, + 2.0298686027526855, + -1.9889345169067383, + -1.5715999603271484, + 4.3745198249816895, + 0.017999986186623573, + 0.017999986186623573 + ] + ], + "joint_vel": [ + [ + -2.3150872948587268e-38, + 1.6288003910467226e-38, + 2.537345702856975e-38, + 4.647348735540403e-37, + 0.0, + -2.051206791197901e-37, + -1.0183327865427705e-37, + 5.352822245951912e-38 + ], + [ + 0.01780051179230213, + 0.03585017845034599, + -0.017020847648382187, + -0.01914139650762081, + -0.0002195341803599149, + 0.018623733893036842, + -0.008678775280714035, + 0.00036626451765187085 + ], + [ + 0.07732589542865753, + -0.05132276564836502, + 0.009868498891592026, + 0.04002648591995239, + -0.001158274244517088, + 0.05821458250284195, + -0.005630367901176214, + 0.00032504581031389534 + ], + [ + 3.0570212160296872e-12, + 3.405973302506027e-06, + -1.3623893210024107e-05, + 3.405982170079369e-06, + -6.811956154706422e-06, + 1.362391503789695e-05, + 1.8193721018633369e-07, + 1.819230135424732e-07 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05078514665365219, + 0.00031593794119544327, + -0.03245135769248009, + -0.2712457478046417, + 0.6595501899719238, + 0.6408161520957947, + -0.28420770168304443 + ], + [ + 0.04752861708402634, + -0.001694072736427188, + -0.03218712657690048, + -0.29087358713150024, + 0.6396774649620056, + 0.6504141688346863, + -0.28838640451431274 + ], + [ + 0.052799541503190994, + 0.0029086065478622913, + -0.030818432569503784, + -0.28046664595603943, + 0.6420525908470154, + 0.6610432863235474, + -0.26856791973114014 + ], + [ + 0.04915113374590874, + -0.00035133332130499184, + -0.02739276923239231, + -0.28605806827545166, + 0.6432526707649231, + 0.6476501822471619, + -0.291454941034317 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e019/wrist.mp4 b/episodes/c5_p002_e019/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f039959c2b28d6395d477fa4ec7a8c8961ef249c --- /dev/null +++ b/episodes/c5_p002_e019/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4334b34dff2f500d8e2008175ee181b2650dd5ba848a396ef82e7426aa4d9110 +size 6780218 diff --git a/episodes/c5_p002_e020/data.npz b/episodes/c5_p002_e020/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..88d86c33f46b98a633a6babb079c905a6d0a7c0a --- /dev/null +++ b/episodes/c5_p002_e020/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b92216bb99124401f3e4297ef31c04028690eccaf3be579b816aac7a93eba685 +size 202184 diff --git a/episodes/c5_p002_e020/device_events.jsonl b/episodes/c5_p002_e020/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..90ed8f1566dbf139235a30bd2e4fa49c79a73863 --- /dev/null +++ b/episodes/c5_p002_e020/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 3, "seq": 1, "step": 26, "t": 0.13, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 26, "t": 0.13, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 31, "t": 0.155, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 930, "t": 4.65, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 948, "t": 4.74, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 5951, "t": 29.755, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 6560, "t": 32.8, "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": 8, "step": 6560, "t": 32.8, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.8898449079071282}, "cause": "task-3-1"} +{"env_id": 3, "seq": 9, "step": 6560, "t": 32.8, "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": 10, "step": 6560, "t": 32.8, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 6560, "t": 32.8, "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": 12, "step": 6979, "t": 34.895, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 13, "step": 6979, "t": 34.895, "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": 14, "step": 6979, "t": 34.895, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 6979, "t": 34.895, "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": 16, "step": 6979, "t": 34.895, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 6979, "t": 34.895, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 18, "step": 6979, "t": 34.895, "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": 19, "step": 6979, "t": 34.895, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 6979, "t": 34.895, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.8898449079071282}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7357, "t": 36.785, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 22, "step": 7357, "t": 36.785, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.890000000000967}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 7357, "t": 36.785, "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": 1.890000000000967}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 24, "step": 7357, "t": 36.785, "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": 25, "step": 7357, "t": 36.785, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 7357, "t": 36.785, "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": 27, "step": 7777, "t": 38.885, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 28, "step": 7777, "t": 38.885, "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": 29, "step": 7777, "t": 38.885, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 7777, "t": 38.885, "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": 31, "step": 7777, "t": 38.885, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 32, "step": 7777, "t": 38.885, "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": 33, "step": 8359, "t": 41.795, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 34, "step": 10596, "t": 52.98, "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": 35, "step": 10596, "t": 52.98, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 36, "step": 10596, "t": 52.98, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 37, "step": 10596, "t": 52.98, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p002_e020/env.mp4 b/episodes/c5_p002_e020/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0d2bb47a32a2050919e75b35148f8edb1daa5768 --- /dev/null +++ b/episodes/c5_p002_e020/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0747600d4a9ba51dffd13bd883cc3cf1762cf65777ffe68f8a9889c8ecc60120 +size 1327548 diff --git a/episodes/c5_p002_e020/meta.json b/episodes/c5_p002_e020/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e9777487246976cbb92e9387d619066e552bcb1b --- /dev/null +++ b/episodes/c5_p002_e020/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/20", + "fps": 25, + "frames": 1264, + "kept_ticks": "even", + "video_frames": { + "wrist": 1264, + "env": 1264 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e020/scene_snapshot.json b/episodes/c5_p002_e020/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..d3df71b53b77bf5c41dc926ea3bc9dc55d6d42a3 --- /dev/null +++ b/episodes/c5_p002_e020/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 20, + "env_id": 3, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5256032943725586, + 0.08841419219970703, + 0.8999999761581421 + ], + "ori": [ + 0.7292097806930542, + 0.0, + 0.0, + -0.6842902302742004 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.728330999988819e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2592014448979524, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1931119094295388, + "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": 0.2592014448979524, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3822431564331055, + 0.6931343078613281, + 0.8999999761581421 + ], + "ori": [ + 0.8075822591781616, + -1.3526463504831554e-08, + 4.389342223021231e-08, + -0.5897549986839294 + ], + "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": [ + 1.252831225428963e-07, + -6.630950899477739e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.9008035678780288e-07, + 1.8032694697467377e-06, + 1.631275836189161e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.04345512390136719, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 9.076065454749482e-10, + -3.741422727188137e-09, + -9.673935892351437e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.514508601336729e-09, + 2.4006432397527533e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -1.3932819342699077e-07, + 2.3237348045768158e-07, + -2.2954443679168435e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5948915481567383, + 0.5514974594116211, + 0.8999999761581421 + ], + "ori": [ + 0.925646185874939, + 4.342260240264295e-08, + -1.315790996159194e-07, + 0.378390371799469 + ], + "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": [ + 7.484071695706973e-11, + -3.488409561214212e-11, + 0.0 + ], + "angular_velocity": [ + 1.019414774816596e-09, + 4.685158927486555e-09, + 5.846551576205172e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.24964427947998047, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 3.7460598832694814e-05, + -5.955451687356117e-09, + -3.731371656101601e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.5441426743100237e-10, + 5.120982748962888e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.592654766431224e-07, + -1.5276093279226188e-08, + 1.2563444506952237e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -1.3764467239379883, + 0.6833686828613281, + 0.9179999828338623 + ], + "ori": [ + 0.8307746648788452, + 6.224801722964912e-07, + -3.807525672527845e-07, + -0.5566090941429138 + ], + "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": [ + 4.2890337681456e-06, + -2.107422005792614e-07, + -2.551823854446411e-06 + ], + "angular_velocity": [ + -3.753768032765947e-05, + 5.306551611283794e-05, + 4.2062325519509614e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.03786945343017578, + 0.4403572082519531, + 0.9180000424385071 + ], + "ori": [ + 0.9980539083480835, + 1.9295345321523882e-09, + -2.928758791043151e-09, + -0.062356848269701004 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.677843001843485e-09, + 2.3256113479419582e-08, + -5.424022674560547e-06 + ], + "angular_velocity": [ + 2.118842417075939e-07, + -1.2240070645930246e-06, + -8.871267276333583e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 1.593033790588379, + 0.5379524230957031, + 0.9180000424385071 + ], + "ori": [ + 0.887047290802002, + 3.0764617520162574e-08, + -1.3376742913351336e-07, + 0.46167853474617004 + ], + "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": [ + -4.287218047238639e-08, + -1.126819970664883e-08, + -6.366521120071411e-06 + ], + "angular_velocity": [ + 1.031905526360788e-06, + -5.641074949380709e-07, + 2.3974445184649085e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -0.23634624481201172, + 1.1532363891601562, + 0.9179999828338623 + ], + "ori": [ + 0.07145273685455322, + -6.974308686125141e-09, + -4.494599359361473e-09, + 0.9974439740180969 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.4567077139845424e-08, + 5.213951936866579e-08, + -2.864748239517212e-06 + ], + "angular_velocity": [ + -1.0303019735147245e-06, + 1.8408851474305266e-06, + 1.3532201137422817e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 2.599999999999967, + "step": 520, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.728330999988819e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2592014448979524, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 493, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.53224316239357, + 0.24313431978225708, + 0.0 + ], + "carrier_2": [ + -0.19345512986183167, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_3": [ + 1.4448915421962738, + 0.10149747133255005, + 0.0 + ], + "carrier_4": [ + -0.39964428544044495, + 0.6999967694282532, + 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": [ + -0.5160906779864118, + -0.01900737949167891, + 2.8786919365315202 + ], + "ori": [ + -11.389720268112612, + 3.9098843515722095, + -16.078438270091652 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6466.358710480283, + "color": [ + 0.8418687650295005, + 0.8212824512606016, + 0.9162230559124592 + ], + "intensity": 9606.746692008372, + "width": 1.719004095905221, + "height": 1.2053096754047483 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.11376345877782712, + -0.23689848330818497, + 2.152256668722605 + ], + "ori": [ + 15.812924385497666, + -17.735106836252115, + -14.035185580083311 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4707.262522149042, + "color": [ + 0.8473660130317267, + 0.766665894714634, + 0.8015637664654494 + ], + "intensity": 9743.152509998417, + "radius": 0.17500878140186982 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1101.438818103476, + "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": [ + [ + -0.04495994374155998, + -2.114880323410034, + 2.3874197006225586, + -1.842311978340149, + -1.5706897974014282, + 4.642817974090576, + 0.00752595067024231, + 0.007107667624950409 + ], + [ + 1.0139371156692505, + -1.5249141454696655, + 2.1219236850738525, + -2.1677942276000977, + -1.5707963705062866, + 2.685779571533203, + 0.018000105395913124, + 0.017999893054366112 + ], + [ + 1.3409996032714844, + -1.45242178440094, + 2.2176971435546875, + -2.3360495567321777, + -1.5703527927398682, + 6.05444860458374, + 0.0180000439286232, + 0.017999956384301186 + ], + [ + 0.9141023755073547, + -1.719397783279419, + 2.09049916267395, + -1.941900372505188, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 0.038844138383865356, + 0.013452712446451187, + -0.016734924167394638, + -0.00877289567142725, + -0.0033765288535505533, + 0.04940418526530266, + -0.010082671418786049, + 0.0005949250189587474 + ], + [ + -8.3145234384574e-05, + 0.0034799142740666866, + 0.003197197802364826, + -0.0062971292063593864, + -9.252329618902877e-06, + -8.868904842529446e-05, + -3.3389012514817296e-06, + 3.3390967928426107e-06 + ], + [ + 0.00014857637870591134, + -0.017537271603941917, + -0.009553113020956516, + 0.025821633636951447, + -5.8721434470498934e-06, + -1.4337160791910719e-05, + -8.259748028649483e-06, + 8.235819223045837e-06 + ], + [ + 0.0, + -2.6092819200424755e-38, + -2.2008715207971575e-38, + -7.2038534394171355e-37, + 1.963050544287841e-37, + 7.931498406235069e-38, + 2.5990388508034812e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05335041880607605, + 0.0029375364538282156, + -0.032968100160360336, + -0.2765505015850067, + 0.6538744568824768, + 0.6437466740608215, + -0.28558406233787537 + ], + [ + 0.051198605448007584, + -0.001988084288313985, + -0.028320876881480217, + -0.2865881323814392, + 0.6431271433830261, + 0.6510133743286133, + -0.28361302614212036 + ], + [ + 0.05050097778439522, + 0.002607539528980851, + -0.029856033623218536, + -0.2819942831993103, + 0.6436656713485718, + 0.6588151454925537, + -0.2685820460319519 + ], + [ + 0.04819651320576668, + -0.0027439843397587538, + -0.02645275928080082, + -0.28665292263031006, + 0.6429921388626099, + 0.6477781534194946, + -0.2911608815193176 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e020/wrist.mp4 b/episodes/c5_p002_e020/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..708ee8cd5056dd48cf2d233ba7f154b34e3ea843 --- /dev/null +++ b/episodes/c5_p002_e020/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a4ad1edf73d2abad557b5d3fd2f39c604b5eef4989c89784528c6bcec9e63e3 +size 7129667 diff --git a/episodes/c5_p002_e021/data.npz b/episodes/c5_p002_e021/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..f795d23072b3a5d6c4d6b825fa87d9fd4a28fa99 --- /dev/null +++ b/episodes/c5_p002_e021/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de647c89ab4a88e95371eb8c271250ee0fefc12f2303b925e97e488a0e69ef15 +size 208335 diff --git a/episodes/c5_p002_e021/device_events.jsonl b/episodes/c5_p002_e021/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..78dedbe9e1cb62aa9c40de6bc49da2741a5a2ef9 --- /dev/null +++ b/episodes/c5_p002_e021/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 136, "t": 0.68, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 136, "t": 0.68, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 141, "t": 0.705, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 749, "t": 3.745, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 5675, "t": 28.375, "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": 6288, "t": 31.44, "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": 6288, "t": 31.44, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.979625291395978}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 6288, "t": 31.44, "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": 6288, "t": 31.44, "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": 6288, "t": 31.44, "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": 6707, "t": 33.535, "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": 6707, "t": 33.535, "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": 6707, "t": 33.535, "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": 6707, "t": 33.535, "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": 6707, "t": 33.535, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6707, "t": 33.535, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 6707, "t": 33.535, "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": 6707, "t": 33.535, "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": 6707, "t": 33.535, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.979625291395978}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 7703, "t": 38.515, "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": 7703, "t": 38.515, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.980000000002548}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7703, "t": 38.515, "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": 4.980000000002548}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 7703, "t": 38.515, "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": 7703, "t": 38.515, "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": 7703, "t": 38.515, "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": 8123, "t": 40.615, "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": 8123, "t": 40.615, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.5941839787435583e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8123, "t": 40.615, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.5941839787435583e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8123, "t": 40.615, "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": 8123, "t": 40.615, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 8123, "t": 40.615, "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": 8703, "t": 43.515, "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": 10916, "t": 54.58, "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": 10916, "t": 54.58, "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": 10916, "t": 54.58, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 10916, "t": 54.58, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p002_e021/env.mp4 b/episodes/c5_p002_e021/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a2a1e436e4aa4a4bdcb0f7783726a3be966da989 --- /dev/null +++ b/episodes/c5_p002_e021/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a92892030cf6ce30591e8ec2be05cb952a9521582cdc71d416d6230c4448b14f +size 1469729 diff --git a/episodes/c5_p002_e021/meta.json b/episodes/c5_p002_e021/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1fd851b4714f44d24d350b79979f4d952571de43 --- /dev/null +++ b/episodes/c5_p002_e021/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/21", + "fps": 25, + "frames": 1329, + "kept_ticks": "even", + "video_frames": { + "wrist": 1329, + "env": 1329 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e021/scene_snapshot.json b/episodes/c5_p002_e021/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..7f6aae178b6c96de0cf357d14988d4293773a1a2 --- /dev/null +++ b/episodes/c5_p002_e021/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 21, + "env_id": 1, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.17154898227210183, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1780839442263458, + "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": 0.17154898227210183, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.682149887084961, + 0.6990623474121094, + 0.8999999761581421 + ], + "ori": [ + 0.8055150508880615, + -1.6112904788201377e-08, + 1.2839445950874051e-08, + 0.5925753116607666 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.3522495890281334e-09, + 5.776875866558839e-09, + -1.862645149230957e-08 + ], + "angular_velocity": [ + -7.511433750551078e-07, + -1.9905348835891346e-07, + -9.429001579519536e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.027467727661132812, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.8115287875607464e-09, + 4.258331465223364e-09, + 1.738814898999408e-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": [ + 1.119548675987403e-09, + 2.0126278421628285e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -2.390013698061466e-08, + 1.1227923835122056e-07, + -2.973088442104199e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0443296432495117, + 1.1490917205810547, + 0.8999999761581421 + ], + "ori": [ + -0.006957976147532463, + -6.74614426543485e-08, + -3.27265112787245e-08, + 0.9999758005142212 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2712835086858831e-06, + -5.045862394581491e-09, + -2.913177013397217e-06 + ], + "angular_velocity": [ + 1.2117723599658348e-05, + -0.00011033132614102215, + 4.883208930550609e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.10892581939697266, + 1.1499958038330078, + 0.8999999761581421 + ], + "ori": [ + 1.2823365068470594e-05, + -1.2632914714316712e-09, + 5.418244741761669e-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": [ + 7.251617084591544e-10, + 3.5270564247014136e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.047828774858317e-07, + 3.531791392674677e-08, + 2.7633101140622784e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 1.6760377883911133, + 0.6936445236206055, + 0.9179999828338623 + ], + "ori": [ + 0.825763463973999, + -1.539805971617625e-08, + 1.356936074614623e-08, + 0.564016580581665 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.9916813087661467e-08, + -3.01149540860024e-08, + 1.043081283569336e-07 + ], + "angular_velocity": [ + 2.2551137135451427e-06, + 9.31964336814417e-08, + 5.998338536983283e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -0.018186569213867188, + 0.461456298828125, + 0.9180000424385071 + ], + "ori": [ + 0.9987077116966248, + 2.3392054959714415e-09, + 5.796998436835565e-09, + -0.050822388380765915 + ], + "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": [ + -7.317829897601769e-09, + -8.810434604100692e-10, + -5.561858415603638e-06 + ], + "angular_velocity": [ + 7.534548558396637e-07, + -1.557151790620992e-06, + -1.3573436596914235e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.0310993194580078, + 1.1531314849853516, + 0.9179999232292175 + ], + "ori": [ + 0.07728153467178345, + -6.428831511584576e-08, + -2.3873815280239796e-07, + 0.9970093965530396 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.7103948216099525e-06, + 2.096383013849845e-06, + -6.183981895446777e-07 + ], + "angular_velocity": [ + -1.8105194612871855e-05, + -0.00010311489313608035, + -2.4961733288364485e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -0.09529399871826172, + 1.1411666870117188, + 0.9179999828338623 + ], + "ori": [ + -0.0828116238117218, + 2.111427477302641e-09, + 5.247559276000402e-09, + 0.9965652823448181 + ], + "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": [ + 5.2533629002482485e-08, + 1.1403702160350804e-07, + 1.7508864402770996e-07 + ], + "angular_velocity": [ + -3.848516826110426e-06, + 2.1695068426197395e-06, + 1.4865170783195936e-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": 1.6599999999999866, + "step": 332, + "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": 0.17154898227210183, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 195, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5321498811244965, + 0.24906235933303833, + 0.0 + ], + "carrier_2": [ + -0.1774677336215973, + 7.748603820800781e-07, + 0.0 + ], + "carrier_3": [ + -1.1943296492099762, + 0.6990917325019836, + 0.0 + ], + "carrier_4": [ + -0.25892582535743713, + 0.6999958157539368, + 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": [ + 0.8616428304972935, + -0.4144372032244247, + 2.8083268514521733 + ], + "ori": [ + 14.50684694890115, + -0.8139423676697195, + 3.686290985174793 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6503.352272536744, + "color": [ + 0.9683443671698345, + 0.8829115344884467, + 0.9195555510934247 + ], + "intensity": 7831.9278245619735, + "width": 2.3617879404598803, + "height": 0.9480403594600171 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.6232559674482046, + 1.3589597539545826, + 2.222381568452205 + ], + "ori": [ + -9.475693636048021, + 23.392597677973527, + 1.7278483375464901 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4187.713962389171, + "color": [ + 0.9522432083748409, + 0.7790950382267571, + 0.9726612879381635 + ], + "intensity": 8185.188580438681, + "radius": 0.48501765230631144 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1101.438818103476, + "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": [ + [ + -0.17875118553638458, + -2.1677000522613525, + 2.408337354660034, + -1.8112324476242065, + -1.5708976984024048, + 4.507303714752197, + 0.008616977371275425, + 0.006447356194257736 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.340995192527771, + -1.3083505630493164, + 2.276320695877075, + -2.538702964782715, + -1.5703529119491577, + 6.05444860458374, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 0.9141011238098145, + -1.719397783279419, + 2.09049916267395, + -1.941900372505188, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -0.000602116750087589, + -0.0006317262887023389, + -0.002843074267730117, + 4.397672455525026e-05, + -0.0008590045035816729, + 0.0017792554572224617, + -0.004621736705303192, + 0.00020038078946527094 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 1.0217897397524212e-05, + 3.405918505450245e-06, + 6.8119270508759655e-06, + -4.104105076618847e-12, + 3.405976940484834e-06, + -1.362391503789695e-05, + 1.8193533435351128e-07, + 1.8193543382949429e-07 + ], + [ + 0.0, + -2.6841970175034374e-38, + -1.5069793498297232e-38, + -2.3929922307491414e-37, + 2.382410073162069e-37, + 3.5775362791579157e-37, + -2.659838246298079e-38, + -3.320676028569634e-38 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05495486781001091, + 0.002495153108611703, + -0.0332796685397625, + -0.2771064341068268, + 0.6597420573234558, + 0.6395393013954163, + -0.2809660732746124 + ], + [ + 0.04883500561118126, + 0.0015585602959617972, + -0.028996063396334648, + -0.29336994886398315, + 0.6406893134117126, + 0.6504139304161072, + -0.2835719585418701 + ], + [ + 0.05186442285776138, + 0.001507071196101606, + -0.03184230253100395, + -0.2863987982273102, + 0.6413199305534363, + 0.6607125997543335, + -0.26484590768814087 + ], + [ + 0.048834845423698425, + -0.00043288146844133735, + -0.025594821199774742, + -0.2806604504585266, + 0.6484925150871277, + 0.6461221575737, + -0.2884672284126282 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e021/wrist.mp4 b/episodes/c5_p002_e021/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e3bf762d27dc3b5ff84f10df40bf9f26010cadd2 --- /dev/null +++ b/episodes/c5_p002_e021/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15e1031a4c1e69039b1abd8f1dc77ea7d6b8786657462ef55b33cb1b9cefe00d +size 7367734 diff --git a/episodes/c5_p002_e022/data.npz b/episodes/c5_p002_e022/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5a2ceae95e7364e918e9c0ea3aece45dc29bae61 --- /dev/null +++ b/episodes/c5_p002_e022/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02de8f5034c0dff0c0a5dd255159fe8f5f17a98af233e82a868e26825c38b5eb +size 186918 diff --git a/episodes/c5_p002_e022/device_events.jsonl b/episodes/c5_p002_e022/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f77f958e25979be685226eafb6a4ec2c6088cb7f --- /dev/null +++ b/episodes/c5_p002_e022/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 100, "t": 0.5, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 100, "t": 0.5, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 105, "t": 0.525, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6591, "t": 32.955, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 7204, "t": 36.02, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 6, "step": 7204, "t": 36.02, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.8375445701571964}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7204, "t": 36.02, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 8, "step": 7204, "t": 36.02, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 7204, "t": 36.02, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 7623, "t": 38.115, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 7623, "t": 38.115, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 7623, "t": 38.115, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7623, "t": 38.115, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7623, "t": 38.115, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7623, "t": 38.115, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7623, "t": 38.115, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 17, "step": 7623, "t": 38.115, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 7623, "t": 38.115, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.8375445701571964}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7991, "t": 39.955, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 7991, "t": 39.955, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.8400000000009413}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7991, "t": 39.955, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.8400000000009413}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7991, "t": 39.955, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 23, "step": 7991, "t": 39.955, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 7991, "t": 39.955, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 8411, "t": 42.055, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 8411, "t": 42.055, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 8.940383988687017e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8411, "t": 42.055, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 8.940383988687017e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8411, "t": 42.055, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8411, "t": 42.055, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8411, "t": 42.055, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8991, "t": 44.955, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 10676, "t": 53.38, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 33, "step": 10676, "t": 53.38, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10676, "t": 53.38, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10676, "t": 53.38, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p002_e022/env.mp4 b/episodes/c5_p002_e022/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8bb7bb9fd7e0f8d6e500aa6a6ba84a58766c2665 --- /dev/null +++ b/episodes/c5_p002_e022/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21f4cb18823ae73481a6e33cd4763995d4dc9dff1157c6846381b5aaf8dcba94 +size 1299744 diff --git a/episodes/c5_p002_e022/meta.json b/episodes/c5_p002_e022/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..35915b82142e684be165d10ffd2d59d643528b3c --- /dev/null +++ b/episodes/c5_p002_e022/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/22", + "fps": 25, + "frames": 1163, + "kept_ticks": "even", + "video_frames": { + "wrist": 1163, + "env": 1163 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e022/scene_snapshot.json b/episodes/c5_p002_e022/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..7de148631b4ed6a602f8a3b21f62c34d96174125 --- /dev/null +++ b/episodes/c5_p002_e022/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 22, + "env_id": 2, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48097991943359375, + 0.1065673828125, + 0.8999999761581421 + ], + "ori": [ + 0.726047158241272, + 0.0, + 0.0, + -0.687644898891449 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 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": 0.2849957797320991, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.021282128303324488, + "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": 0.2849957797320991, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.12932205200195312, + 0.45000457763671875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.1516732839899078e-10, + 3.192023867448768e-10, + -6.029524956829846e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.548073277519052e-10, + 1.7139090147111347e-09, + 0.0 + ], + "angular_velocity": [ + -8.850093990986352e-08, + -7.671931712138758e-08, + 3.7419969345364734e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2432947158813477, + 0.5116415023803711, + 0.8999999761581421 + ], + "ori": [ + -0.952072024345398, + -1.5539706410550025e-08, + -1.2014744754651474e-07, + 0.3058738708496094 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.3822121164585042e-08, + -2.9287962277635415e-08, + 4.470348358154297e-08 + ], + "angular_velocity": [ + 2.3288539523491636e-06, + -1.6493811472173547e-06, + 1.1298604363219056e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.32842159271240234, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + -4.64762924821116e-05, + -7.660155842970084e-10, + -5.396380009514701e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.7050775780755885e-09, + -5.717528672732897e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + 2.198123922880768e-07, + -3.213150137071352e-07, + -4.5327201547706863e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6152353286743164, + 1.0251731872558594, + 0.8999999761581421 + ], + "ori": [ + 0.4290291666984558, + 1.0267316241652225e-07, + -3.063235709532819e-08, + 0.9032906293869019 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.026969287387658e-09, + -2.4836244172377064e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.1649795794710371e-07, + -1.9682360630213225e-07, + 4.3918134906562045e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.11516189575195312, + 0.45131874084472656, + 0.9179999828338623 + ], + "ori": [ + 0.9995257258415222, + 1.6918367817808644e-09, + 9.200686879040632e-10, + 0.030795663595199585 + ], + "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": [ + -2.2056479309640054e-08, + -1.744266953096485e-10, + 8.940696716308594e-08 + ], + "angular_velocity": [ + 3.7440867117766174e-07, + -1.410105483046209e-06, + 8.504564164013573e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.2474679946899414, + 0.5248146057128906, + 0.9180000424385071 + ], + "ori": [ + -0.9430279731750488, + -1.0402732009140436e-08, + -1.2018934114621516e-07, + 0.33271342515945435 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.784265676491486e-08, + -8.692780539831801e-08, + -5.111098289489746e-06 + ], + "angular_velocity": [ + 2.846378720278153e-06, + -4.506139703153167e-06, + 4.2221742546644236e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.32015037536621094, + 1.1602668762207031, + 0.9180000424385071 + ], + "ori": [ + -0.10171732306480408, + -1.0940298666994863e-09, + 2.4371010765023016e-10, + 0.9948133826255798 + ], + "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": [ + -1.2710597907528154e-08, + -3.321785868592997e-08, + -5.278736352920532e-06 + ], + "angular_velocity": [ + -9.732556804920023e-08, + 1.7524021131976042e-06, + -1.4762370881271636e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.6080074310302734, + 1.022186279296875, + 0.9179999828338623 + ], + "ori": [ + 0.4807652533054352, + 1.0395200433777063e-07, + -2.292096290545942e-08, + 0.876849353313446 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0911071512964554e-07, + -7.397996881763902e-08, + -1.210719347000122e-06 + ], + "angular_velocity": [ + 1.7418419702153187e-06, + 4.8893980419961736e-06, + 2.51923353289385e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 7.019999999999873, + "step": 1404, + "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": 0.2849957797320991, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1303, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.020677953958511353, + 4.589557647705078e-06, + 0.0 + ], + "carrier_2": [ + -1.3932947218418121, + 0.06164151430130005, + 0.0 + ], + "carrier_3": [ + 0.17842158675193787, + 0.7000005841255188, + 0.0 + ], + "carrier_4": [ + 1.465235322713852, + 0.5751731991767883, + 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": [ + 0.32401677283696984, + 0.5430009253216441, + 2.959140630055724 + ], + "ori": [ + -2.038391771638153, + -14.290881879834993, + 1.2445519234788556 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3327.190017103454, + "color": [ + 0.9629527903214493, + 0.9816103220257267, + 0.9924263997721646 + ], + "intensity": 6634.903657555682, + "width": 2.582199062140228, + "height": 1.535334361558072 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.693053817564349, + 0.6574692217863853, + 1.65475271716901 + ], + "ori": [ + -4.243890828922829, + -10.153044718527092, + -16.333236454579925 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6104.498181295436, + "color": [ + 0.7583718004570563, + 0.7876065393317007, + 0.9069485961820765 + ], + "intensity": 9006.2663649956, + "radius": 0.1485862365193229 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 823.8670350018763, + "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 + ], + [ + 2.548536777496338, + -2.2266321182250977, + 2.2361674308776855, + -1.5868061780929565, + -1.5764127969741821, + 4.118568420410156, + 0.007718467153608799, + 0.006990394555032253 + ], + [ + 0.9141035079956055, + -1.7193965911865234, + 2.090498208999634, + -1.9419001340866089, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 2.3034286499023438, + -2.360623359680176, + 2.804363965988159, + -2.015631675720215, + -1.5705188512802124, + 3.8738925457000732, + 0.00812950823456049, + 0.0068042222410440445 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.020077144727110863, + 0.029401319101452827, + -0.010143370367586613, + -0.018786035478115082, + -0.00010773963003885001, + 0.020385336130857468, + -0.009063757956027985, + 0.0003546384396031499 + ], + [ + 3.40596466230636e-06, + 6.8118747549306136e-06, + -1.8425042741521125e-11, + -3.580769361577474e-12, + -3.405976485737483e-06, + 6.810861553560588e-13, + -9.412106510842122e-13, + 6.493006002653012e-13 + ], + [ + 0.013821201398968697, + -0.008368687704205513, + 0.01596587896347046, + 0.005440002307295799, + 0.0015306990826502442, + 0.006956424564123154, + -0.007163025438785553, + 0.0001622333365958184 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05222097784280777, + 0.0017602101434022188, + -0.031958211213350296, + -0.27904385328292847, + 0.6543841361999512, + 0.6417483687400818, + -0.2864873707294464 + ], + [ + 0.049704451113939285, + 3.4896613215096295e-05, + -0.031766265630722046, + -0.29628247022628784, + 0.6412215828895569, + 0.6506907343864441, + -0.2786632478237152 + ], + [ + 0.04974560812115669, + 0.0012859568232670426, + -0.03136667609214783, + -0.2798420190811157, + 0.6398596167564392, + 0.6618453860282898, + -0.2724496126174927 + ], + [ + 0.04863958805799484, + -0.0027555921114981174, + -0.02772919461131096, + -0.28432345390319824, + 0.6463115811347961, + 0.6481520533561707, + -0.2852025330066681 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e022/wrist.mp4 b/episodes/c5_p002_e022/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..11cc650cb053447d49cde0b38c017f6f6a449c48 --- /dev/null +++ b/episodes/c5_p002_e022/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0994b4c837df3c3eb941d45e42d3e269397930a7d71ff32a2014eeecedc51ec6 +size 6251088 diff --git a/episodes/c5_p002_e023/data.npz b/episodes/c5_p002_e023/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..1f517db2326c073414f6445b753976219f8013ba --- /dev/null +++ b/episodes/c5_p002_e023/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aced8f96b3b28cbab68af3ee1d3f7f9b8cb1daa0301fead745fd15837236c4ff +size 191852 diff --git a/episodes/c5_p002_e023/device_events.jsonl b/episodes/c5_p002_e023/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3cad1dbc7e597bd3d7b1ad4b5ca20272e239c3ec --- /dev/null +++ b/episodes/c5_p002_e023/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 185, "t": 0.925, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 185, "t": 0.925, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 190, "t": 0.95, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1268, "t": 6.34, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6186, "t": 30.93, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 6800, "t": 34.0, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6800, "t": 34.0, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.8033443031096361}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 6800, "t": 34.0, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 9, "step": 6800, "t": 34.0, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 10, "step": 6800, "t": 34.0, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 11, "step": 7219, "t": 36.095, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 12, "step": 7219, "t": 36.095, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 7219, "t": 36.095, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7219, "t": 36.095, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 7219, "t": 36.095, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7219, "t": 36.095, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 7219, "t": 36.095, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 18, "step": 7219, "t": 36.095, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 19, "step": 7219, "t": 36.095, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.8033443031096361}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 7580, "t": 37.9, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 21, "step": 7580, "t": 37.9, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.8050000000009234}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7580, "t": 37.9, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.8050000000009234}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 7580, "t": 37.9, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 24, "step": 7580, "t": 37.9, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 25, "step": 7580, "t": 37.9, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 26, "step": 8000, "t": 40.0, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 27, "step": 8000, "t": 40.0, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.184418089803188e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8000, "t": 40.0, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.184418089803188e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8000, "t": 40.0, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 8000, "t": 40.0, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8000, "t": 40.0, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 8579, "t": 42.895, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 33, "step": 10340, "t": 51.7, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 10340, "t": 51.7, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 10340, "t": 51.7, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 10340, "t": 51.7, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p002_e023/env.mp4 b/episodes/c5_p002_e023/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f18ba13ed63e82d86525b468a28697446394fd23 --- /dev/null +++ b/episodes/c5_p002_e023/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91cc00fd2a7593155f2b47277ad33d9b0b3d4cebbc0e54a3a17cc319bfaefbaf +size 1288472 diff --git a/episodes/c5_p002_e023/meta.json b/episodes/c5_p002_e023/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f1b491bf50c2cdb03cdba0dffae2c959350413cf --- /dev/null +++ b/episodes/c5_p002_e023/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/23", + "fps": 25, + "frames": 1192, + "kept_ticks": "even", + "video_frames": { + "wrist": 1192, + "env": 1192 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e023/scene_snapshot.json b/episodes/c5_p002_e023/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..5dcfccd0bcc11a4dde3a93f123f4de4c42c53f11 --- /dev/null +++ b/episodes/c5_p002_e023/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 23, + "env_id": 0, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 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": 0.216041225752519, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1235806982954834, + "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": 0.216041225752519, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.07620811462402344, + 1.153085708618164, + 0.8999999761581421 + ], + "ori": [ + -0.005374839063733816, + 4.6299213352085644e-08, + -4.25881054866295e-08, + 0.9999856352806091 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.043544331646444e-09, + 9.50733181070973e-09, + 1.043081283569336e-07 + ], + "angular_velocity": [ + 1.4461437558566104e-07, + -9.535427238915872e-07, + 3.8230501786529203e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.026704788208007812, + 0.4475984573364258, + 0.8999999761581421 + ], + "ori": [ + 0.9999365210533142, + -3.6494722799318424e-09, + 5.082595233574239e-09, + 0.011273270472884178 + ], + "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": [ + -2.912477592431628e-09, + -6.8662870944535825e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + 1.5813188269930833e-07, + -2.5842805939646496e-07, + -3.849779517395291e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.67425537109375, + 0.9249773025512695, + 0.8999999761581421 + ], + "ori": [ + 0.5718196630477905, + -5.7932954433681516e-08, + 3.4830772932537e-08, + 0.8203793168067932 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.3602969295998264e-08, + 3.430729922371256e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 1.0705238651098625e-07, + -1.0283234814778552e-06, + -2.8499107429524884e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0797443389892578, + 1.146139144897461, + 0.8999999761581421 + ], + "ori": [ + -0.04799939692020416, + 9.970710124207471e-08, + 4.5084330935196704e-08, + 0.9988474249839783 + ], + "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": [ + 2.242434682386829e-08, + -6.396530238816922e-08, + -7.078051567077637e-08 + ], + "angular_velocity": [ + -6.224097859330868e-08, + 2.568139507275191e-06, + -5.840335575157951e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -0.07337665557861328, + 1.1454334259033203, + 0.9180000424385071 + ], + "ori": [ + -0.08145353943109512, + -9.154224756002804e-08, + -6.788834383542053e-08, + 0.9966772198677063 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4736301636730786e-06, + 5.329740815795958e-06, + -1.5310943126678467e-06 + ], + "angular_velocity": [ + -1.9412684196140617e-05, + 1.0608382581267506e-06, + -3.8906964618945494e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.0190887451171875, + 0.4521045684814453, + 0.9180000424385071 + ], + "ori": [ + 0.9981997013092041, + -2.3706712148907627e-09, + 6.379632377928601e-09, + 0.0599779449403286 + ], + "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": [ + -4.1842071141218184e-08, + -5.009594161720088e-08, + -5.513429641723633e-06 + ], + "angular_velocity": [ + 1.7182550209327019e-06, + -2.567280716903042e-06, + 4.212905935219169e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.6598939895629883, + 0.9308872222900391, + 0.9180000424385071 + ], + "ori": [ + 0.6119444966316223, + 3.7108367223481764e-07, + 5.583456186286639e-07, + 0.790900707244873 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.770370651385747e-06, + 3.3976775739574805e-06, + -7.97957181930542e-06 + ], + "angular_velocity": [ + 3.891685628332198e-05, + -1.9461218471406028e-05, + 3.9195809222292155e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.0793209075927734, + 1.1445178985595703, + 0.9179999828338623 + ], + "ori": [ + -0.10803759843111038, + 1.0222985480368152e-07, + 6.589355194819291e-08, + 0.9941468238830566 + ], + "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": [ + 1.6503945232670958e-07, + -1.619434186750368e-07, + -1.6577541828155518e-06 + ], + "angular_velocity": [ + 8.824405995255802e-06, + 5.284259259497048e-06, + -7.026512776064919e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 4.239999999999932, + "step": 848, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.216041225752519, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 662, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.22620812058448792, + 0.703085720539093, + 0.0 + ], + "carrier_2": [ + -0.12329521775245667, + -0.0024015307426452637, + 0.0 + ], + "carrier_3": [ + 1.5242553651332855, + 0.4749773144721985, + 0.0 + ], + "carrier_4": [ + -1.2297443449497223, + 0.6961391568183899, + 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": [ + 0.13843050843752125, + -0.07450762934882865, + 3.0278439356492455 + ], + "ori": [ + -14.849986619470082, + 5.417831636280347, + 11.184979810592978 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3327.4992335530756, + "color": [ + 0.8885021603802169, + 0.8144344563611414, + 0.9093987339949261 + ], + "intensity": 12003.952364518955, + "width": 1.8159840189641712, + "height": 0.815114363231485 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.26222693894197224, + 1.5493172268755202, + 2.3702045522490858 + ], + "ori": [ + 21.83918338917995, + -16.797353972884956, + 25.568276443052525 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6606.740183134139, + "color": [ + 0.8090420746284062, + 0.7718611781445801, + 0.9686573583998619 + ], + "intensity": 6928.1274201910055, + "radius": 0.2464972546132838 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 823.8670350018763, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141026139259338, + -1.719398021697998, + 2.0904996395111084, + -1.9419012069702148, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.8047893047332764, + -1.6671308279037476, + 1.8990323543548584, + -1.8050838708877563, + -1.5736957788467407, + 4.371309280395508, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 0.8084518313407898, + -1.1782644987106323, + 2.069472312927246, + -2.4619808197021484, + -1.5707963705062866, + 2.3176558017730713, + 0.018000010401010513, + 0.017999988049268723 + ], + [ + 2.7736928462982178, + -1.4761028289794922, + 2.3232600688934326, + -2.4199812412261963, + -1.5729645490646362, + 4.342904567718506, + 0.007810606155544519, + 0.007111625280231237 + ] + ], + "joint_vel": [ + [ + 2.206560091913084e-38, + -1.862744927588208e-38, + 0.0, + -5.784870364264785e-37, + 5.831716332446549e-37, + -2.9853379072008135e-36, + 2.5990372520823257e-08, + -2.5990386731677972e-08 + ], + [ + -6.811928415118018e-06, + 3.4059469271596754e-06, + -3.4059792142215883e-06, + 1.4000812228326387e-13, + 3.4059796689689392e-06, + 1.3623913218907546e-05, + 1.8192541517692007e-07, + 1.8192514517068048e-07 + ], + [ + -8.743040962144732e-05, + 0.00949516799300909, + 0.003097842913120985, + -0.011854413896799088, + -7.318249572563218e-06, + -2.0772877178387716e-05, + -4.7559892664139625e-06, + 4.7562612053297926e-06 + ], + [ + 0.007299335673451424, + 0.018780460581183434, + -0.022088373079895973, + 0.002560869324952364, + -0.0002373154420638457, + 0.007874531671404839, + -0.008419331163167953, + 0.0003936206048820168 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05294245108962059, + 0.0036462582647800446, + -0.03219575807452202, + -0.27422481775283813, + 0.6549478769302368, + 0.6439375281333923, + -0.28493592143058777 + ], + [ + 0.04885992407798767, + -0.00036012730561196804, + -0.03437977284193039, + -0.29702192544937134, + 0.6359665393829346, + 0.654385507106781, + -0.2812545597553253 + ], + [ + 0.0513278990983963, + -0.0008245137869380414, + -0.03217209503054619, + -0.2881811559200287, + 0.6365742087364197, + 0.6618154644966125, + -0.27152374386787415 + ], + [ + 0.05018334835767746, + 0.000415404123486951, + -0.02708572894334793, + -0.2835216522216797, + 0.6428197026252747, + 0.6466848254203796, + -0.2969799041748047 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e023/wrist.mp4 b/episodes/c5_p002_e023/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b56c79ff45f927a850c0fc3e0313d2ff0e9bf6fb --- /dev/null +++ b/episodes/c5_p002_e023/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cff29cf3a1d339e5a9e8e497c7dc6c181cb3f93601ba92d321fa0137eaa83441 +size 6499010 diff --git a/episodes/c5_p002_e024/data.npz b/episodes/c5_p002_e024/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..282115781e93ea3df3e02f3476776a5597e78f2a --- /dev/null +++ b/episodes/c5_p002_e024/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ffc6001224fd0f0a842aa977bacf493c74aad80cc951fb38cd179bdfc5079e68 +size 190976 diff --git a/episodes/c5_p002_e024/device_events.jsonl b/episodes/c5_p002_e024/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0df4f6d15be1f2d5ee769e4a7534d9fd64009ecf --- /dev/null +++ b/episodes/c5_p002_e024/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 106, "t": 0.53, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 106, "t": 0.53, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 111, "t": 0.555, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 837, "t": 4.185, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 5755, "t": 28.775, "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": 6368, "t": 31.84, "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": 6368, "t": 31.84, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.7230242145934955}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 6368, "t": 31.84, "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": 6368, "t": 31.84, "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": 6368, "t": 31.84, "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": 6787, "t": 33.935, "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": 6787, "t": 33.935, "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": 6787, "t": 33.935, "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": 6787, "t": 33.935, "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": 6787, "t": 33.935, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6787, "t": 33.935, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 6787, "t": 33.935, "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": 6787, "t": 33.935, "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": 6787, "t": 33.935, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.7230242145934955}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 7332, "t": 36.66, "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": 7332, "t": 36.66, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.725000000001394}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7332, "t": 36.66, "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": 2.725000000001394}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 7332, "t": 36.66, "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": 7332, "t": 36.66, "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": 7332, "t": 36.66, "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": 7752, "t": 38.76, "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": 7752, "t": 38.76, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 7752, "t": 38.76, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 7752, "t": 38.76, "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": 7752, "t": 38.76, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 7752, "t": 38.76, "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": 8331, "t": 41.655, "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": 10132, "t": 50.66, "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": 10132, "t": 50.66, "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": 10132, "t": 50.66, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 10132, "t": 50.66, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p002_e024/env.mp4 b/episodes/c5_p002_e024/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..97e6a22b9425cd542e0e39613e923d2d83f71b64 --- /dev/null +++ b/episodes/c5_p002_e024/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ccb160d8eab6df70ef9d63f40bc36af79e1cb52a6a44e4aae699876d383996a +size 1205319 diff --git a/episodes/c5_p002_e024/meta.json b/episodes/c5_p002_e024/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e4bbda484d38c97678a8ce560c473c43cf1a22b4 --- /dev/null +++ b/episodes/c5_p002_e024/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/24", + "fps": 25, + "frames": 1219, + "kept_ticks": "even", + "video_frames": { + "wrist": 1219, + "env": 1219 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e024/scene_snapshot.json b/episodes/c5_p002_e024/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..ed1319e2dd99fa8cc099c74197bdfd5a8d04abf1 --- /dev/null +++ b/episodes/c5_p002_e024/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 24, + "env_id": 1, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 7.737581408928662e-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": 0.1932120342141251, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.19178095841043694, + "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": 0.1932120342141251, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.052573204040527344, + 1.1500015258789062, + 0.8999999761581421 + ], + "ori": [ + 4.9713153202901594e-06, + -4.030801525889416e-10, + -1.7880492642063928e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.348468334887002e-10, + -2.0103807507609872e-10, + 0.0 + ], + "angular_velocity": [ + -1.118550585488265e-09, + 5.767657285105088e-08, + -8.234311010824058e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.04192924499511719, + 0.45000457763671875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.8930641498826617e-09, + 3.747629290229426e-11, + -4.098943099961616e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.724061338137517e-09, + 1.5702663613836876e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -6.526830276243345e-08, + 1.5048394175209978e-07, + -2.3025139128662886e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2862586975097656, + 1.053877830505371, + 0.8999999761581421 + ], + "ori": [ + -0.3596237897872925, + 7.020187098305541e-08, + 7.077496633201008e-08, + 0.9330974221229553 + ], + "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": [ + -5.541150871479772e-12, + -1.9641878401532864e-10, + 0.0 + ], + "angular_velocity": [ + 1.5905751382661037e-08, + 3.929022440729568e-09, + 1.1812328892801816e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6966896057128906, + 0.8219881057739258, + 0.8999999761581421 + ], + "ori": [ + 0.6881247162818909, + -5.3118295539889004e-08, + 6.750997982862827e-08, + 0.7255924344062805 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.979820610375498e-10, + -5.943360248394924e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 4.120733620993633e-08, + 3.2137361216655336e-08, + -4.277628029569769e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -0.04946422576904297, + 1.1379613876342773, + 0.9179999828338623 + ], + "ori": [ + -0.01745867356657982, + 1.606921679053741e-10, + 2.787013397842486e-10, + 0.9998475909233093 + ], + "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": [ + 2.309712954229326e-08, + 2.141034016744925e-08, + 9.313225746154785e-08 + ], + "angular_velocity": [ + -1.1107979389635148e-06, + 1.6010163790269871e-06, + 5.178917916737191e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -0.04389762878417969, + 0.43836021423339844, + 0.9180000424385071 + ], + "ori": [ + 0.9986710548400879, + 2.0566639502561657e-09, + 6.556264420254365e-10, + 0.051538899540901184 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.037227079895956e-09, + 1.9142094132007514e-08, + -4.995614290237427e-06 + ], + "angular_velocity": [ + 1.372161335666533e-07, + -1.5526246670560795e-06, + -4.0803325163096815e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.2714052200317383, + 1.0570392608642578, + 0.9179999828338623 + ], + "ori": [ + -0.3532661199569702, + 6.964029353184742e-08, + 7.24997448742215e-08, + 0.9355229735374451 + ], + "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": [ + 1.7805408702997738e-08, + 1.0314066045680192e-08, + -6.161630153656006e-06 + ], + "angular_velocity": [ + -1.346928911516443e-06, + 7.58114765631035e-07, + 9.439349923923146e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.7061491012573242, + 0.8122940063476562, + 0.9179999828338623 + ], + "ori": [ + 0.6567435264587402, + -4.8797311080761574e-08, + 6.489837289791467e-08, + 0.754114031791687 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.504456280722934e-09, + -4.569901435047541e-08, + 9.313225746154785e-08 + ], + "angular_velocity": [ + 1.5678361933169072e-06, + 3.332052074256353e-07, + 9.900023911768585e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 2.1399999999999766, + "step": 428, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 7.737581408928662e-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": 0.1932120342141251, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 321, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.20257321000099182, + 0.7000015377998352, + 0.0 + ], + "carrier_2": [ + -0.19192925095558167, + 4.589557647705078e-06, + 0.0 + ], + "carrier_3": [ + -1.43625870347023, + 0.6038778424263, + 0.0 + ], + "carrier_4": [ + 1.5466895997524261, + 0.37198811769485474, + 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": [ + -0.035114381645494075, + -0.02296060162740854, + 2.826293513269456 + ], + "ori": [ + -0.19530908616872722, + -0.569685375701404, + 14.178569023205952 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6066.633507853721, + "color": [ + 0.8807357762753615, + 0.9468542795595124, + 0.7925967413914866 + ], + "intensity": 13413.1092426979, + "width": 1.8011277896064364, + "height": 1.8930832355006497 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.8579609873672113, + 0.9385192024350484, + 2.4362735227821117 + ], + "ori": [ + 38.720362547104656, + 33.75998281640682, + -0.15348709799698668 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5140.313895537292, + "color": [ + 0.9386002892481707, + 0.9830293375502246, + 0.9822523089038309 + ], + "intensity": 9573.371374117474, + "radius": 0.40059641659071066 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 823.8670350018763, + "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": [ + [ + 1.5248788595199585, + -1.3731839656829834, + 2.2362687587738037, + -2.434175491333008, + -1.5709351301193237, + 6.208446502685547, + 0.007591536268591881, + 0.007038467098027468 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.2939414978027344, + -1.6052725315093994, + 2.103529214859009, + -2.068265438079834, + -1.5716495513916016, + 6.005465030670166, + 0.018000006675720215, + 0.01799999177455902 + ], + [ + 0.9141026735305786, + -1.7193984985351562, + 2.0904996395111084, + -1.9419009685516357, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 6.227919948287308e-05, + 0.018492046743631363, + 0.008080961182713509, + -0.025742175057530403, + 1.8145285139326006e-05, + -0.001065554446540773, + -0.007093632593750954, + 0.0002255652070743963 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -1.0217888302577194e-05, + -6.811859748268034e-06, + -6.811919774918351e-06, + 6.811962066421984e-06, + -6.811956154706422e-06, + 2.7247833713772707e-05, + -1.0398456851135052e-07, + 1.0393861771262891e-07 + ], + [ + 2.407621618560877e-38, + -1.6560525633212188e-38, + 0.0, + -6.466421131501095e-37, + -3.6828276036897396e-38, + -4.601671338174008e-37, + 2.5990374297180097e-08, + -2.5990399166175848e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05395336449146271, + 0.0023541159462183714, + -0.0312999002635479, + -0.27425616979599, + 0.6586883068084717, + 0.6398223638534546, + -0.28555312752723694 + ], + [ + 0.0463099405169487, + 0.001788795692846179, + -0.03352766111493111, + -0.2957158386707306, + 0.641570508480072, + 0.6488956809043884, + -0.2826196253299713 + ], + [ + 0.05306543782353401, + 0.001958452630788088, + -0.032654937356710434, + -0.28533923625946045, + 0.6425893306732178, + 0.6579020023345947, + -0.26986178755760193 + ], + [ + 0.04787188023328781, + -0.0001169358438346535, + -0.027012160047888756, + -0.2822515070438385, + 0.6430855393409729, + 0.6496858596801758, + -0.2910040020942688 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e024/wrist.mp4 b/episodes/c5_p002_e024/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c172c451e644cf439625eabaab9a965c3779078c --- /dev/null +++ b/episodes/c5_p002_e024/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e482edd57f8dd66a5b52b893a55aa239587069d905d3efe426bcb073d1d8b27 +size 7025754 diff --git a/episodes/c5_p002_e025/data.npz b/episodes/c5_p002_e025/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..883aed8b157fa98997bf03cd045b577f7b5c002f --- /dev/null +++ b/episodes/c5_p002_e025/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e22e15c1df4d3e7938305870f046e9b32f0b9c0512dc883c5b8c1d6d5f31d77d +size 190030 diff --git a/episodes/c5_p002_e025/device_events.jsonl b/episodes/c5_p002_e025/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4d61f89911c704a1a3fd989ed90f70b8c227a8a5 --- /dev/null +++ b/episodes/c5_p002_e025/device_events.jsonl @@ -0,0 +1,40 @@ +{"env_id": 2, "seq": 1, "step": 36, "t": 0.18, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 36, "t": 0.18, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 41, "t": 0.205, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 959, "t": 4.795, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 976, "t": 4.88, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 989, "t": 4.945, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 1014, "t": 5.07, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 8, "step": 1033, "t": 5.165, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 5631, "t": 28.155, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 10, "step": 6244, "t": 31.22, "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": 11, "step": 6244, "t": 31.22, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.7891409655707986}, "cause": "task-2-1"} +{"env_id": 2, "seq": 12, "step": 6244, "t": 31.22, "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": 13, "step": 6244, "t": 31.22, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 14, "step": 6244, "t": 31.22, "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": 15, "step": 6663, "t": 33.315, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 16, "step": 6663, "t": 33.315, "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": 17, "step": 6663, "t": 33.315, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 18, "step": 6663, "t": 33.315, "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": 19, "step": 6663, "t": 33.315, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 20, "step": 6663, "t": 33.315, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 21, "step": 6663, "t": 33.315, "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": 22, "step": 6663, "t": 33.315, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 23, "step": 6663, "t": 33.315, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.7891409655707986}, "cause": "program-2-3"} +{"env_id": 2, "seq": 24, "step": 7421, "t": 37.105, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 25, "step": 7421, "t": 37.105, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.790000000001939}, "cause": "program-2-3"} +{"env_id": 2, "seq": 26, "step": 7421, "t": 37.105, "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": 3.790000000001939}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 27, "step": 7421, "t": 37.105, "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": 28, "step": 7421, "t": 37.105, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 29, "step": 7421, "t": 37.105, "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": 30, "step": 7841, "t": 39.205, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 31, "step": 7841, "t": 39.205, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.2785983383167832e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 32, "step": 7841, "t": 39.205, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.2785983383167832e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 33, "step": 7841, "t": 39.205, "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": 34, "step": 7841, "t": 39.205, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 35, "step": 7841, "t": 39.205, "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": 36, "step": 8422, "t": 42.11, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 37, "step": 10156, "t": 50.78, "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": 38, "step": 10156, "t": 50.78, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 39, "step": 10156, "t": 50.78, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 40, "step": 10156, "t": 50.78, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p002_e025/env.mp4 b/episodes/c5_p002_e025/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..46cc1e139839cc2b792eb789a2b73210e9f948ca --- /dev/null +++ b/episodes/c5_p002_e025/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:154e67248cb05467c83471af2c014fb1f1bcfdee50d3a9888469ba3105b27acd +size 1248682 diff --git a/episodes/c5_p002_e025/meta.json b/episodes/c5_p002_e025/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4bb55f3b5e474e60a710bae6779193f831f6bc78 --- /dev/null +++ b/episodes/c5_p002_e025/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/25", + "fps": 25, + "frames": 1208, + "kept_ticks": "even", + "video_frames": { + "wrist": 1208, + "env": 1208 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e025/scene_snapshot.json b/episodes/c5_p002_e025/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..97d9b64fc2334c907c7b4a268e341194b8754ca9 --- /dev/null +++ b/episodes/c5_p002_e025/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 25, + "env_id": 2, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48097991943359375, + 0.1065673828125, + 0.8999999761581421 + ], + "ori": [ + 0.726047158241272, + 0.0, + 0.0, + -0.687644898891449 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 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": 0.28991823189337274, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.13701007104393212, + "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": 0.28991823189337274, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6141042709350586, + 1.0282058715820312, + 0.8999999761581421 + ], + "ori": [ + 0.4199034869670868, + 6.3703997632558185e-09, + -9.434712566758208e-09, + 0.9075688123703003 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.88526988359672e-11, + 1.7070264646257272e-10, + 0.0 + ], + "angular_velocity": [ + -1.7345264780033176e-08, + -1.3068257587178778e-09, + 6.251967832326955e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3987865447998047, + 0.8060617446899414, + 0.8999999761581421 + ], + "ori": [ + -0.6988881826400757, + -2.3958204309337816e-08, + -7.235665577809414e-08, + 0.7152310013771057 + ], + "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": [ + -7.719703765118879e-10, + 5.824948301480504e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -4.94880580959034e-08, + -3.288710459514732e-08, + 5.462760022112434e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.012764930725097656, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -7.672642521328044e-10, + 5.145492032454513e-09, + -2.4276010663015768e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.6589434270741776e-09, + 1.5318831758648344e-09, + 0.0 + ], + "angular_velocity": [ + -1.800701454612863e-07, + 1.23915881999892e-07, + -1.1007860400980007e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5515098571777344, + 1.1500015258789062, + 0.8999999761581421 + ], + "ori": [ + -1.1734206054825336e-05, + 4.4993558878658746e-10, + 2.4659119191028367e-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": [ + -1.9167036846567953e-09, + -2.641734386799044e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 1.1360979357277756e-07, + -1.6874078312412166e-07, + -3.631465261833e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.6072864532470703, + 1.0330467224121094, + 0.9179999828338623 + ], + "ori": [ + 0.36515185236930847, + 6.7194574349116465e-09, + -7.015840797208739e-09, + 0.9309479594230652 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4459683228551512e-08, + 7.899741305550378e-09, + 3.3527612686157227e-08 + ], + "angular_velocity": [ + 2.9767626585908147e-08, + 1.14658553229674e-06, + -2.3861979059347505e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.399078369140625, + 0.8048000335693359, + 0.9180000424385071 + ], + "ori": [ + -0.6431254148483276, + -1.9588171085160866e-08, + -7.452897676785142e-08, + 0.7657609581947327 + ], + "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": [ + -5.355264010020733e-10, + 2.6845661693641887e-08, + -5.11854887008667e-06 + ], + "angular_velocity": [ + -2.020369038291392e-06, + -1.7645373873165227e-07, + 4.920653751128157e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -0.0023708343505859375, + 0.46024227142333984, + 0.9180000424385071 + ], + "ori": [ + 0.9998733401298523, + -2.2475807881505716e-09, + 4.884145976546961e-09, + -0.015917038545012474 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.7951470289197005e-09, + 3.754107247289085e-09, + -5.576759576797485e-06 + ], + "angular_velocity": [ + 7.919462063910032e-07, + -1.2852394775109133e-06, + 3.1629703300950496e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.5645637512207031, + 1.149733543395996, + 0.9179999828338623 + ], + "ori": [ + -0.08630076795816422, + -1.0445975195949586e-09, + 3.3389118136994966e-09, + 0.996269166469574 + ], + "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": [ + 5.756113807819929e-09, + 1.1803070520954861e-08, + -1.218169927597046e-06 + ], + "angular_velocity": [ + -1.9824692572001368e-06, + 1.4841373285889858e-06, + -1.2436743190846755e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 2.599999999999967, + "step": 520, + "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": 0.28991823189337274, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 483, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.4641042649745941, + 0.5782058835029602, + 0.0 + ], + "carrier_2": [ + -1.5487865507602692, + 0.35606175661087036, + 0.0 + ], + "carrier_3": [ + -0.13723507523536682, + 2.682209014892578e-06, + 0.0 + ], + "carrier_4": [ + 0.4015098512172699, + 0.7000015377998352, + 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 + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.11535799942451652, + 0.2463211032567051, + 2.827416806217616 + ], + "ori": [ + -6.5399603226117815, + 9.079225849986273, + 1.1378229210198683 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5062.1686025648105, + "color": [ + 0.855497047773843, + 0.9110559230401988, + 0.9395683798751813 + ], + "intensity": 6816.574003260401, + "width": 1.5613415603927125, + "height": 1.4545049227393663 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.12896598353850175, + -0.750571606649128, + 2.2768064240785013 + ], + "ori": [ + 29.80833905235565, + -32.669459437189886, + -0.32123469085438217 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7457.45949609354, + "color": [ + 0.8334634802437773, + 0.8240024841059796, + 0.8696223835779875 + ], + "intensity": 8563.397280884732, + "radius": 0.07030156831966108 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 823.8670350018763, + "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": [ + [ + 1.52506685256958, + -1.539960265159607, + 2.1324052810668945, + -2.1635963916778564, + -1.570956826210022, + 6.208486557006836, + 0.018000030890107155, + 0.01799996942281723 + ], + [ + 1.0709850788116455, + -1.2814664840698242, + 2.250150203704834, + -2.5395610332489014, + -1.570724368095398, + 2.53890323638916, + 0.007603827398270369, + 0.007064793724566698 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141026735305786, + -1.7193984985351562, + 2.0904996395111084, + -1.9419009685516357, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 0.00014664347690995783, + -0.013450177386403084, + -0.012317078188061714, + 0.02450190670788288, + -6.366496563714463e-06, + 4.026775059173815e-05, + -6.826678145444021e-06, + 6.8030394686502405e-06 + ], + [ + 2.7206215236219577e-05, + -3.899363218806684e-05, + 3.6248562537366524e-05, + 0.0010859929025173187, + -0.0015141600742936134, + -0.005065553355962038, + -0.006706749554723501, + 0.00017436081543564796 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 2.407621618560877e-38, + -1.6560525633212188e-38, + 0.0, + -6.466421131501095e-37, + -3.6828276036897396e-38, + -4.601671338174008e-37, + 2.5990374297180097e-08, + -2.5990399166175848e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05481301248073578, + 0.0009797475067898631, + -0.029986323788762093, + -0.26928457617759705, + 0.6568603515625, + 0.6424799561500549, + -0.28851306438446045 + ], + [ + 0.04935261607170105, + 0.0016002861084416509, + -0.030291633680462837, + -0.2938554584980011, + 0.6406277418136597, + 0.6496574878692627, + -0.2849389612674713 + ], + [ + 0.05109304562211037, + -0.0004930059076286852, + -0.03128262981772423, + -0.28274062275886536, + 0.6441774368286133, + 0.6578326225280762, + -0.2689785063266754 + ], + [ + 0.05151035636663437, + -0.0009612675057724118, + -0.027581749483942986, + -0.28244540095329285, + 0.6444373726844788, + 0.6478300094604492, + -0.29196128249168396 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e025/wrist.mp4 b/episodes/c5_p002_e025/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a1ab212f8277be337eda49bdc959b528b53c2982 --- /dev/null +++ b/episodes/c5_p002_e025/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a456e2a720a4797517228bb1a3f7b301eada9e655c9639f4275c1529c720d32 +size 6088179 diff --git a/episodes/c5_p002_e026/data.npz b/episodes/c5_p002_e026/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..59c7b328d478791135047c2fcba82b6d1ac3f86e --- /dev/null +++ b/episodes/c5_p002_e026/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2dcc1cd5164d409cef08bc793831473a82cfe959d21d443e9b20dbdc4d5201a1 +size 204114 diff --git a/episodes/c5_p002_e026/device_events.jsonl b/episodes/c5_p002_e026/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f9bf675b3fc47c3d0dd83cde34062bd34153e766 --- /dev/null +++ b/episodes/c5_p002_e026/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 268, "t": 1.34, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 268, "t": 1.34, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 273, "t": 1.365, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6671, "t": 33.355, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7284, "t": 36.42, "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": 6, "step": 7284, "t": 36.42, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.9938201591844025}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7284, "t": 36.42, "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": 8, "step": 7284, "t": 36.42, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 7284, "t": 36.42, "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": 10, "step": 7703, "t": 38.515, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7703, "t": 38.515, "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": 12, "step": 7703, "t": 38.515, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7703, "t": 38.515, "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": 14, "step": 7703, "t": 38.515, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7703, "t": 38.515, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7703, "t": 38.515, "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": 17, "step": 7703, "t": 38.515, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7703, "t": 38.515, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.9938201591844025}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8502, "t": 42.51, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 8502, "t": 42.51, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.995000000002044}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8502, "t": 42.51, "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": 3.995000000002044}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8502, "t": 42.51, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 8502, "t": 42.51, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 8502, "t": 42.51, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8922, "t": 44.61, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8922, "t": 44.61, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.0417123547389338e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8922, "t": 44.61, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.0417123547389338e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8922, "t": 44.61, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8922, "t": 44.61, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8922, "t": 44.61, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 9502, "t": 47.51, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 11728, "t": 58.64, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 11728, "t": 58.64, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "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": 3, "seq": 35, "step": 11728, "t": 58.64, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p002_e026/env.mp4 b/episodes/c5_p002_e026/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8284fa485f87fa24d1c214557f7557eeb92e6b05 --- /dev/null +++ b/episodes/c5_p002_e026/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9e5e0e27dbd4a604b6579adc189072a74e487a374e9fc875abb012a11951bba +size 1264976 diff --git a/episodes/c5_p002_e026/meta.json b/episodes/c5_p002_e026/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0609cb2aae51d3a13fdf44a6b72654526ef9d057 --- /dev/null +++ b/episodes/c5_p002_e026/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/26", + "fps": 25, + "frames": 1282, + "kept_ticks": "even", + "video_frames": { + "wrist": 1282, + "env": 1282 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e026/scene_snapshot.json b/episodes/c5_p002_e026/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..fa7c399414ab46ae366e0fac6f05a6fa5aac49a6 --- /dev/null +++ b/episodes/c5_p002_e026/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 26, + "env_id": 3, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5256032943725586, + 0.08841419219970703, + 0.8999999761581421 + ], + "ori": [ + 0.7292097806930542, + 0.0, + 0.0, + -0.6842902302742004 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.15658258559901617, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.28086748713173865, + "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": 0.15658258559901617, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.275796890258789, + 1.0633773803710938, + 0.8999999761581421 + ], + "ori": [ + -0.344340056180954, + 1.151255588638378e-07, + -3.602141163128181e-08, + 0.9388449788093567 + ], + "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": [ + 3.0130278272366695e-09, + -1.2496848000864702e-10, + 2.60770320892334e-08 + ], + "angular_velocity": [ + -7.917563493720081e-08, + 2.399389416041231e-07, + 1.6921172019124242e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.690704345703125, + 0.8670530319213867, + 0.8999999761581421 + ], + "ori": [ + 0.637274980545044, + -1.566758456306161e-08, + 2.265214682495298e-09, + 0.7706365585327148 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.7415577868717946e-09, + 9.383336330159864e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -4.5465839093594695e-08, + -4.491133154260751e-08, + 4.073266524073915e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.8357229232788086, + 1.1522893905639648, + 0.8999999761581421 + ], + "ori": [ + -0.013727477751672268, + -6.796856411028784e-10, + -1.6468985064577168e-09, + 0.9999058246612549 + ], + "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": [ + -1.5496759431243845e-09, + -1.1834725421877579e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 7.910485777529175e-08, + -1.4701483053158881e-07, + -1.1246085840355136e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.13027572631835938, + 0.4477968215942383, + 0.8999999761581421 + ], + "ori": [ + -0.9998916387557983, + -1.0974656738937938e-09, + 4.1553560592433314e-10, + -0.01472072210162878 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.037861239287622e-10, + 2.680477395600178e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.5450694352002756e-07, + 2.2129121646230487e-08, + -1.0914151360452706e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -1.2659549713134766, + 1.0760374069213867, + 0.9179999828338623 + ], + "ori": [ + -0.25182557106018066, + 1.1781448705505682e-07, + -2.2049063019835557e-08, + 0.9677726030349731 + ], + "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": [ + 1.2261513404610014e-07, + 4.181827861771126e-08, + 2.2351741790771484e-07 + ], + "angular_velocity": [ + -1.5196849290077807e-06, + 3.6567514598573325e-06, + 4.0709636550673167e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 1.6970930099487305, + 0.8674650192260742, + 0.9180000424385071 + ], + "ori": [ + 0.6979785561561584, + -1.540892391460602e-08, + 1.109706548874101e-09, + 0.7161187529563904 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.7436224908351505e-08, + -2.0747618734162643e-08, + -5.487352609634399e-06 + ], + "angular_velocity": [ + 1.6860645928318263e-06, + 1.6801322999526747e-08, + 2.454116554417851e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.8255491256713867, + 1.1541156768798828, + 0.9180000424385071 + ], + "ori": [ + -0.03179934248328209, + -1.0610413936351648e-10, + -1.0587156706876044e-09, + 0.9994943737983704 + ], + "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": [ + 8.119823036167872e-09, + -1.1073467476307997e-08, + -5.278736352920532e-06 + ], + "angular_velocity": [ + -4.296553015592508e-07, + 1.645630504754081e-06, + -1.8939356749569924e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -0.13298606872558594, + 0.4483976364135742, + 0.9179999828338623 + ], + "ori": [ + -0.9999937415122986, + -7.520732481225423e-09, + -2.4634247974830714e-09, + 0.0035526512656360865 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.549301735323752e-08, + 4.193076108549576e-09, + -1.0244548320770264e-06 + ], + "angular_velocity": [ + 2.0580500859068707e-08, + -1.6192500424949685e-06, + 9.156100588825211e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 7.639999999999859, + "step": 1528, + "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": 0.15658258559901617, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1259, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.4257968962192535, + 0.6133773922920227, + 0.0 + ], + "carrier_2": [ + 1.5407043397426605, + 0.4170530438423157, + 0.0 + ], + "carrier_3": [ + 0.6857229173183441, + 0.7022894024848938, + 0.0 + ], + "carrier_4": [ + -0.28027573227882385, + -0.0022031664848327637, + 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": [ + -0.4595682636596556, + 0.18876862388638516, + 2.869742376229739 + ], + "ori": [ + 13.808747787206745, + -8.944192008041018, + -15.42290792074354 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5919.57528982229, + "color": [ + 0.8235602684661762, + 0.8236255888505446, + 0.9671373483944821 + ], + "intensity": 10220.591615816997, + "width": 2.6991823505483103, + "height": 1.4103857344698847 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.5782296241311011, + 0.41527951664291063, + 2.0440397719678423 + ], + "ori": [ + 19.147838935289556, + -9.517214858695368, + -38.47439858521489 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5907.676271911174, + "color": [ + 0.8493680355171435, + 0.8573594464803032, + 0.806836176601831 + ], + "intensity": 8925.501272751622, + "radius": 0.07962005775710684 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1555.9464051278892, + "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 + ], + [ + 1.070993423461914, + -1.429641604423523, + 2.190725803375244, + -2.331913709640503, + -1.5707935094833374, + 2.538689136505127, + 0.00761758629232645, + 0.007087260950356722 + ], + [ + 0.9934660792350769, + -1.466996669769287, + 2.1129508018493652, + -2.2167065143585205, + -1.5707963705062866, + 2.5959272384643555, + 0.0180000439286232, + 0.017999954521656036 + ], + [ + 0.9141026735305786, + -1.7193984985351562, + 2.0904996395111084, + -1.941900610923767, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.00023592880461364985, + -0.01727019064128399, + -0.009735812433063984, + 0.025158757343888283, + 0.00038890886935405433, + 0.001287406892515719, + -0.00685406057164073, + 0.00017293771088588983 + ], + [ + -8.26300383778289e-05, + 0.01226218044757843, + 0.00935840792953968, + -0.020504847168922424, + -1.0250242667098064e-05, + 3.37229976139497e-05, + -5.346515081328107e-06, + 5.3477747314900625e-06 + ], + [ + 2.3591753675328535e-38, + -2.2793187311672965e-38, + -1.8110117908822643e-38, + -3.031362378170852e-37, + 5.469808695363113e-37, + -5.436696348962749e-37, + 2.5990372520823257e-08, + -2.5990399166175848e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05299004912376404, + 0.0017397849587723613, + -0.0315442718565464, + -0.2772274315357208, + 0.6563382744789124, + 0.6415414214134216, + -0.2842352092266083 + ], + [ + 0.04845088720321655, + -0.0016926067182794213, + -0.03126545622944832, + -0.285948246717453, + 0.6433433294296265, + 0.6530811190605164, + -0.27897676825523376 + ], + [ + 0.050322048366069794, + 0.0007633332861587405, + -0.032249294221401215, + -0.2871388792991638, + 0.6391133666038513, + 0.6588128805160522, + -0.2739543318748474 + ], + [ + 0.049884483218193054, + -0.001406527473591268, + -0.026014771312475204, + -0.2849707305431366, + 0.6451103687286377, + 0.6492220759391785, + -0.2848421037197113 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e026/wrist.mp4 b/episodes/c5_p002_e026/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b47550539eb1b8fd84d215ff70ebbfa351bd66a8 --- /dev/null +++ b/episodes/c5_p002_e026/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a80b6612ef73560d6d59d9e79bf24a51d227b7ac167644d20ffa8c34269dedcb +size 7180359 diff --git a/episodes/c5_p002_e027/data.npz b/episodes/c5_p002_e027/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..1714f2b3ab1f63646f5411a57d550a00cb907653 --- /dev/null +++ b/episodes/c5_p002_e027/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56781fcdfb36311bc281827a1faa5fbc2c00e8b0ac18a8d6d387d58f71abf71a +size 195096 diff --git a/episodes/c5_p002_e027/device_events.jsonl b/episodes/c5_p002_e027/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4306787f12d4d8f66644d1175bd6a6b94f50dfb7 --- /dev/null +++ b/episodes/c5_p002_e027/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 133, "t": 0.665, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 133, "t": 0.665, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 138, "t": 0.69, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 5992, "t": 29.96, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6600, "t": 33.0, "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": 6600, "t": 33.0, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.2721515517429207}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6600, "t": 33.0, "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": 6600, "t": 33.0, "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": 6600, "t": 33.0, "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": 7019, "t": 35.095, "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": 7019, "t": 35.095, "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": 7019, "t": 35.095, "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": 7019, "t": 35.095, "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": 7019, "t": 35.095, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7019, "t": 35.095, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7019, "t": 35.095, "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": 7019, "t": 35.095, "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": 7019, "t": 35.095, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.2721515517429207}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7674, "t": 38.37, "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": 7674, "t": 38.37, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.2750000000016755}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7674, "t": 38.37, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.2750000000016755}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7674, "t": 38.37, "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": 7674, "t": 38.37, "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": 7674, "t": 38.37, "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": 8094, "t": 40.47, "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": 8094, "t": 40.47, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 6.816932796027686e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8094, "t": 40.47, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 6.816932796027686e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8094, "t": 40.47, "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": 8094, "t": 40.47, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8094, "t": 40.47, "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": 8670, "t": 43.35, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 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": 33, "step": 10444, "t": 52.22, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 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": 35, "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/c5_p002_e027/env.mp4 b/episodes/c5_p002_e027/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4a682a25b2c1f9e788269e355d45dd091a3c4631 --- /dev/null +++ b/episodes/c5_p002_e027/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:985e6d07333900ea7bca74441c3033ce9db131614be02734726bfb8d1bdd09ec +size 1279320 diff --git a/episodes/c5_p002_e027/meta.json b/episodes/c5_p002_e027/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a15327050b3b63a0425f27c3f11c4edb4b05f3e8 --- /dev/null +++ b/episodes/c5_p002_e027/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/27", + "fps": 25, + "frames": 1249, + "kept_ticks": "even", + "video_frames": { + "wrist": 1249, + "env": 1249 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e027/scene_snapshot.json b/episodes/c5_p002_e027/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..44512dbe013ca7a119316fd11945fa3a6c251ccf --- /dev/null +++ b/episodes/c5_p002_e027/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 27, + "env_id": 0, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 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": 0.18337795536757298, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.09014352035614528, + "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": 0.18337795536757298, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.559187889099121, + 1.0794076919555664, + 0.8999999761581421 + ], + "ori": [ + 0.3167453408241272, + 4.067900860604823e-08, + -1.3595231607155256e-09, + 0.9485106468200684 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.269745030287652e-10, + 3.8699460302993316e-10, + 0.0 + ], + "angular_velocity": [ + -2.6270175368381388e-08, + -2.12433164392678e-08, + -7.0225949500013485e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.352625846862793, + 0.970123291015625, + 0.8999999761581421 + ], + "ori": [ + -0.5010810494422913, + -3.9061678336338446e-08, + -2.336698479155075e-08, + 0.8654004335403442 + ], + "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": [ + 6.926143214514013e-08, + -8.910337356837772e-09, + 7.078051567077637e-08 + ], + "angular_velocity": [ + 6.409662205442146e-07, + 2.7058415525971213e-06, + 4.5015207206233754e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.18727588653564453, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + -2.1566660507232882e-05, + 8.728195943774608e-11, + 5.072141373574368e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.329769514617055e-09, + -4.3467252908158116e-08, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 1.4447319927057833e-06, + -1.2623752354556927e-07, + -5.981181061542884e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.05943775177001953, + 0.45000743865966797, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.7222667736405128e-11, + -3.34830541071085e-09, + 2.5711771741043776e-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": [ + -1.8424550773943338e-10, + 4.178322132730727e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -2.1128931848579668e-07, + -4.339490544680302e-08, + 9.410674017829024e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.574422836303711, + 1.082265853881836, + 0.9179999828338623 + ], + "ori": [ + 0.3508020341396332, + 4.0576832560645926e-08, + -5.096181254771182e-10, + 0.9364497065544128 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.666035487346562e-08, + -1.060270271580066e-08, + 8.940696716308594e-08 + ], + "angular_velocity": [ + 7.859322863623674e-07, + 1.2925098644700483e-06, + 3.4571311147146844e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -1.3497991561889648, + 0.9590024948120117, + 0.9180000424385071 + ], + "ori": [ + -0.47407472133636475, + -2.570966444181977e-07, + 2.7052894324697263e-07, + 0.8804846405982971 + ], + "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": [ + 9.097009751712903e-06, + -5.63917978979589e-07, + -5.934387445449829e-06 + ], + "angular_velocity": [ + 9.374472574563697e-05, + 0.00017583728185854852, + 5.810199218103662e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.1862926483154297, + 1.1578998565673828, + 0.9180000424385071 + ], + "ori": [ + 0.059812139719724655, + -6.49588915990762e-09, + 1.6290198345814133e-07, + 0.9982097148895264 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.073573892237619e-07, + -3.937316250812728e-06, + -4.764646291732788e-06 + ], + "angular_velocity": [ + -1.99544956558384e-05, + 1.0345680493628606e-05, + 2.837878855643794e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.05150318145751953, + 0.44043922424316406, + 0.9179999828338623 + ], + "ori": [ + 0.9999909996986389, + -1.73745440257278e-09, + -4.402809672399144e-09, + 0.004247887991368771 + ], + "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": [ + -4.150334476094031e-08, + 6.243702443953225e-08, + -1.2032687664031982e-06 + ], + "angular_velocity": [ + -1.38620328016259e-06, + -1.9517235614330275e-06, + 1.2149121175752953e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 2.4799999999999693, + "step": 496, + "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": 0.18337795536757298, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 362, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.4091878831386566, + 0.6294077038764954, + 0.0 + ], + "carrier_2": [ + -1.5026258528232574, + 0.520123302936554, + 0.0 + ], + "carrier_3": [ + 0.037275880575180054, + 0.6999967694282532, + 0.0 + ], + "carrier_4": [ + -0.09056225419044495, + 7.450580596923828e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.727129080842141, + 0.3728615109926361, + 2.91974021312344 + ], + "ori": [ + 9.663720241877115, + -3.3867320145501516, + -1.5828242130688999 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3946.8531340258583, + "color": [ + 0.9059164347790702, + 0.8828916335972744, + 0.9381680671667627 + ], + "intensity": 12833.78275593698, + "width": 2.1211015398826074, + "height": 1.1585692043296096 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.1904375761997148, + 0.8308785864747741, + 1.9630365175412434 + ], + "ori": [ + -36.79161156258205, + -1.2583616464075078, + -39.84831608498459 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5358.75842443933, + "color": [ + 0.8695983744742359, + 0.8683502680314679, + 0.8898848726217277 + ], + "intensity": 4618.6346273798845, + "radius": 0.13944774085202652 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1555.9464051278892, + "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": [ + [ + 0.9141007661819458, + -1.719398021697998, + 2.0904994010925293, + -1.941900372505188, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.0711454153060913, + -1.5258203744888306, + 2.1234936714172363, + -2.1677653789520264, + -1.570698618888855, + 2.5390758514404297, + 0.006812018807977438, + 0.008538569323718548 + ], + [ + 0.993927001953125, + -1.268507480621338, + 2.210019826889038, + -2.512342929840088, + -1.5707775354385376, + 2.5966455936431885, + 0.007679620757699013, + 0.007113530766218901 + ], + [ + 1.2526170015335083, + -1.3168878555297852, + 2.289628028869629, + -2.5435171127319336, + -1.5707967281341553, + 2.8305201530456543, + 0.01799999177455902, + 0.018000006675720215 + ] + ], + "joint_vel": [ + [ + 5.108947334520053e-06, + -3.4059578410960967e-06, + 6.811945695517352e-06, + 3.4059755762427812e-06, + 3.277038742362931e-13, + 2.055966508152096e-12, + -4.9170858899307e-14, + 8.012805913573673e-13 + ], + [ + -0.0004841149493586272, + -0.0012975992867723107, + -0.0026657229755073786, + 0.0037288814783096313, + -0.00394239230081439, + -0.014112114906311035, + -0.00015685264952480793, + -8.680366590851918e-05 + ], + [ + 0.00014409417053684592, + -0.010682978667318821, + -0.0033752021845430136, + 0.013444183394312859, + -0.0002505692245904356, + -0.0011645875638350844, + -0.0070859529078006744, + 0.00028361636213958263 + ], + [ + -5.462781336973421e-05, + 0.0098623251542449, + 0.0031568242702633142, + -0.012456236407160759, + -7.617904429935152e-06, + 2.0038356524310075e-05, + -5.180824246053817e-06, + 5.18136448590667e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05370024964213371, + 0.0030230823904275894, + -0.03242668882012367, + -0.2774505615234375, + 0.6580832600593567, + 0.637784481048584, + -0.28840693831443787 + ], + [ + 0.049932245165109634, + 0.0006363545544445515, + -0.031371183693408966, + -0.29288771748542786, + 0.6431053876876831, + 0.6507465243339539, + -0.27777907252311707 + ], + [ + 0.05086519196629524, + -0.00033447821624577045, + -0.03255189582705498, + -0.2823832631111145, + 0.6405532956123352, + 0.6630551815032959, + -0.2651585042476654 + ], + [ + 0.0488472618162632, + -0.00012450873327907175, + -0.027192138135433197, + -0.28410786390304565, + 0.6455157995223999, + 0.6477891802787781, + -0.28802990913391113 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e027/wrist.mp4 b/episodes/c5_p002_e027/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5b9abc8533fcd7d09a72203cc3f29d41ff4ecffa --- /dev/null +++ b/episodes/c5_p002_e027/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14b082bb7b5104ed6e728ec70c083495e10299252903b02bd7050f1acd5d6fa1 +size 6471937 diff --git a/episodes/c5_p002_e028/data.npz b/episodes/c5_p002_e028/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..6704cf00abfab290542bebc12b93fbd469eba60e --- /dev/null +++ b/episodes/c5_p002_e028/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5347f99e04de2c384cbcafc00eec58f7e1e3a9be518266b101eb36f1ef78200d +size 182439 diff --git a/episodes/c5_p002_e028/device_events.jsonl b/episodes/c5_p002_e028/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5f794d5dfc871f4066126e0cdd72218058631e99 --- /dev/null +++ b/episodes/c5_p002_e028/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 153, "t": 0.765, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 153, "t": 0.765, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 158, "t": 0.79, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6180, "t": 30.9, "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": 6792, "t": 33.96, "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": 6792, "t": 33.96, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.5527299214285275}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6792, "t": 33.96, "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": 6792, "t": 33.96, "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": 6792, "t": 33.96, "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": 7211, "t": 36.055, "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": 7211, "t": 36.055, "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": 7211, "t": 36.055, "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": 7211, "t": 36.055, "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": 7211, "t": 36.055, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7211, "t": 36.055, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7211, "t": 36.055, "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": 7211, "t": 36.055, "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": 7211, "t": 36.055, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.5527299214285275}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7722, "t": 38.61, "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": 7722, "t": 38.61, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.555000000001307}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7722, "t": 38.61, "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": 2.555000000001307}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7722, "t": 38.61, "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": 7722, "t": 38.61, "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": 7722, "t": 38.61, "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": 8142, "t": 40.71, "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": 8142, "t": 40.71, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8142, "t": 40.71, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8142, "t": 40.71, "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": 8142, "t": 40.71, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8142, "t": 40.71, "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": 8719, "t": 43.595, "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": 10416, "t": 52.08, "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": 10416, "t": 52.08, "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": 10416, "t": 52.08, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10416, "t": 52.08, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p002_e028/env.mp4 b/episodes/c5_p002_e028/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0f75d6b8074d136434fc4af5f7e9bd11ad7debc4 --- /dev/null +++ b/episodes/c5_p002_e028/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98f961d05f5d163f15fb043ae8d5c237ac03505bfa3ea100f838ecca880667fe +size 1261428 diff --git a/episodes/c5_p002_e028/meta.json b/episodes/c5_p002_e028/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..14f73603e3955a4d3440af7e8f9b606ef6c38955 --- /dev/null +++ b/episodes/c5_p002_e028/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/28", + "fps": 25, + "frames": 1191, + "kept_ticks": "even", + "video_frames": { + "wrist": 1191, + "env": 1191 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e028/scene_snapshot.json b/episodes/c5_p002_e028/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..40d8d4cd871d6349082dfa139ab58c12849c49d7 --- /dev/null +++ b/episodes/c5_p002_e028/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 28, + "env_id": 1, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.055498116830371e-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": 0.20650964066949937, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.08265974094252262, + "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": 0.20650964066949937, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3235483169555664, + 0.5855093002319336, + 0.8999999761581421 + ], + "ori": [ + -0.895588219165802, + 2.885699856847168e-08, + 1.4706579065659753e-07, + 0.44488391280174255 + ], + "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": [ + 3.4024547068689515e-10, + -3.0198836764583348e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + 1.9870759615514544e-07, + 1.1109673891951388e-07, + 2.3094901990816652e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.06744861602783203, + 0.4480762481689453, + 0.8999999761581421 + ], + "ori": [ + 0.9998827576637268, + 1.3662295739180763e-09, + -6.930392371096161e-10, + 0.015319397673010826 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.312318362982182e-10, + -1.3823281408420485e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -3.870233911129617e-09, + 3.441501661427537e-08, + -6.2342149220739884e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.30922412872314453, + 1.152557373046875, + 0.8999999761581421 + ], + "ori": [ + -0.011825613677501678, + 7.589450179423807e-10, + -6.123616058673065e-10, + 0.9999300837516785 + ], + "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": [ + -9.276936996371887e-10, + -6.103678673596846e-11, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -4.145118737142184e-08, + -8.104797188934754e-08, + -1.6738304964292183e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6605615615844727, + 0.6447639465332031, + 0.8999999761581421 + ], + "ori": [ + 0.8504721522331238, + -1.9882975266227731e-07, + 4.069034531539728e-08, + 0.5260202884674072 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.300848008957473e-09, + 1.9074712920286174e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -1.3376070739923307e-07, + -4.570364922074077e-07, + 4.7235005240509054e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.3254222869873047, + 0.5993003845214844, + 0.9179999828338623 + ], + "ori": [ + -0.8745028972625732, + 1.978918007239372e-08, + 1.4789993940667046e-07, + 0.48502039909362793 + ], + "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": [ + -2.765881923494362e-08, + 1.5876139514148235e-08, + 2.8312206268310547e-07 + ], + "angular_velocity": [ + -1.2673796163653606e-06, + -3.2336458843928995e-06, + 2.147475441915958e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.061545372009277344, + 0.45564746856689453, + 0.9180000424385071 + ], + "ori": [ + 0.9999144673347473, + 2.2038206815011563e-09, + -1.2870535748277234e-09, + -0.013082948513329029 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3450791591651523e-08, + 4.844395551373282e-09, + -5.330890417098999e-06 + ], + "angular_velocity": [ + 3.23772951560386e-07, + -1.163523165814695e-06, + 7.349429154146492e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.3011455535888672, + 1.1626224517822266, + 0.9179999828338623 + ], + "ori": [ + 0.008628170937299728, + 4.710861700729652e-10, + -2.6191795954311203e-10, + 0.9999628663063049 + ], + "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": [ + 6.5513496849689545e-09, + -1.31062787289693e-08, + -5.580484867095947e-06 + ], + "angular_velocity": [ + -2.731274548750662e-07, + 1.6013086678867694e-06, + -1.8371633103697604e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.6481552124023438, + 0.634669303894043, + 0.9180000424385071 + ], + "ori": [ + 0.7964518070220947, + -2.2274667799138115e-07, + -5.2312294940293214e-08, + 0.6047019362449646 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.106761141680181e-07, + 4.0789963406950847e-08, + 2.4586915969848633e-07 + ], + "angular_velocity": [ + 2.1937021301710047e-06, + -3.801078491960652e-06, + 1.220308149640914e-06 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 4.659999999999923, + "step": 932, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.055498116830371e-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": 0.20650964066949937, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 778, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.4735483229160309, + 0.13550931215286255, + 0.0 + ], + "carrier_2": [ + -0.08255138993263245, + -0.0019237399101257324, + 0.0 + ], + "carrier_3": [ + 0.15922412276268005, + 0.702557384967804, + 0.0 + ], + "carrier_4": [ + 1.5105615556240082, + 0.19476395845413208, + 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": [ + 0.08451647434587628, + -0.31336730631631504, + 2.675898010306634 + ], + "ori": [ + 0.9154300776876916, + 7.148519209578769, + 1.550333096806746 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5931.051488546715, + "color": [ + 0.9487570839593682, + 0.8875403943807963, + 0.9538908115180356 + ], + "intensity": 11870.319933179879, + "width": 2.389875659032854, + "height": 1.2873153961118127 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.5124191499750395, + -0.10662840919554406, + 2.587719775191953 + ], + "ori": [ + -8.20174439266152, + -38.08361309174069, + -11.899496574167951 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5565.596864390578, + "color": [ + 0.842134978943071, + 0.8205291869623718, + 0.9503827795250283 + ], + "intensity": 9681.092267199872, + "radius": 0.498942250173801 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1555.9464051278892, + "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": [ + [ + 1.4518975019454956, + -1.298509120941162, + 2.2607243061065674, + -2.5324769020080566, + -1.5701203346252441, + 6.164310455322266, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 0.9141026735305786, + -1.7193979024887085, + 2.0904994010925293, + -1.9419010877609253, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9192726612091064, + -1.713846206665039, + 2.0945749282836914, + -1.9515129327774048, + -1.5707995891571045, + 2.4950613975524902, + 0.01800038479268551, + 0.017999617382884026 + ], + [ + 1.8578906059265137, + -1.2223247289657593, + 2.073462724685669, + -2.422067880630493, + -1.571109414100647, + 0.25860822200775146, + 0.018000038340687752, + 0.017999960109591484 + ] + ], + "joint_vel": [ + [ + -2.229653365149603e-13, + 3.405946699786e-06, + 9.353665845340808e-13, + -2.0435862097656354e-05, + 1.0217933777312282e-05, + 8.462910277076685e-13, + 1.8193064477145526e-07, + 1.8193317430359457e-07 + ], + [ + -2.752361219482668e-38, + 2.871889456152339e-38, + 1.5451745420718247e-38, + 3.33481636321732e-37, + -6.4045653510005e-37, + 2.312179908830915e-37, + 2.5990374297180097e-08, + -2.5990399166175848e-08 + ], + [ + 0.005813376512378454, + 0.006479212082922459, + 0.004743978846818209, + -0.010671996511518955, + 1.0039690096164122e-05, + 0.011317189782857895, + 1.335117394773988e-05, + -1.3373535693972372e-05 + ], + [ + 0.00015047317720018327, + -0.017575738951563835, + -0.006418150849640369, + 0.022562721744179726, + -6.039374966348987e-06, + 4.689882615593888e-08, + -9.344713362224866e-06, + 9.347418199467938e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05082680657505989, + 0.002581474371254444, + -0.03344324976205826, + -0.27867457270622253, + 0.65797358751297, + 0.6381560564041138, + -0.28664979338645935 + ], + [ + 0.050061557441949844, + 0.0011531455675140023, + -0.033001843839883804, + -0.29577770829200745, + 0.645872950553894, + 0.6472655534744263, + -0.2764253616333008 + ], + [ + 0.05139947310090065, + 0.00028050621040165424, + -0.032267142087221146, + -0.2865772247314453, + 0.6397355794906616, + 0.6613692045211792, + -0.2668381929397583 + ], + [ + 0.04904773831367493, + -0.0008908105664886534, + -0.027111416682600975, + -0.28576621413230896, + 0.6397103667259216, + 0.6489314436912537, + -0.2966417074203491 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e028/wrist.mp4 b/episodes/c5_p002_e028/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7bddb6c880ba70561615bdd0547fcac920f5bf75 --- /dev/null +++ b/episodes/c5_p002_e028/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a648d848bcf4dd4ab040e3f0ebfb05062f39e8cc0e663f4904ad84e6e0f370dd +size 6683369 diff --git a/episodes/c5_p002_e029/data.npz b/episodes/c5_p002_e029/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..b7f1836cbca3021d5499efc895ff37e95bcfad56 --- /dev/null +++ b/episodes/c5_p002_e029/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6bc6c978dfa3833f6b44b5e62b7fba26c6a85a427df6e5f010b69e5714643222 +size 201323 diff --git a/episodes/c5_p002_e029/device_events.jsonl b/episodes/c5_p002_e029/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..97883c1693f252dfc873ea1b75b9f70aecaf4bf2 --- /dev/null +++ b/episodes/c5_p002_e029/device_events.jsonl @@ -0,0 +1,39 @@ +{"env_id": 2, "seq": 1, "step": 114, "t": 0.57, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 114, "t": 0.57, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 119, "t": 0.595, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 871, "t": 4.355, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 879, "t": 4.395, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 949, "t": 4.745, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 1068, "t": 5.34, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 8, "step": 5791, "t": 28.955, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 6404, "t": 32.02, "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": 10, "step": 6404, "t": 32.02, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.237223691918809}, "cause": "task-2-1"} +{"env_id": 2, "seq": 11, "step": 6404, "t": 32.02, "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": 12, "step": 6404, "t": 32.02, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 13, "step": 6404, "t": 32.02, "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": 14, "step": 6823, "t": 34.115, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 15, "step": 6823, "t": 34.115, "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": 16, "step": 6823, "t": 34.115, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 17, "step": 6823, "t": 34.115, "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": 18, "step": 6823, "t": 34.115, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 19, "step": 6823, "t": 34.115, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 20, "step": 6823, "t": 34.115, "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": 21, "step": 6823, "t": 34.115, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 22, "step": 6823, "t": 34.115, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.237223691918809}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.240000000001146}, "cause": "program-2-3"} +{"env_id": 2, "seq": 25, "step": 7271, "t": 36.355, "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": 2.240000000001146}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 26, "step": 7271, "t": 36.355, "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": 27, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 28, "step": 7271, "t": 36.355, "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": 29, "step": 7691, "t": 38.455, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 30, "step": 7691, "t": 38.455, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.175633420786198e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 31, "step": 7691, "t": 38.455, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.175633420786198e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 32, "step": 7691, "t": 38.455, "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": 33, "step": 7691, "t": 38.455, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 34, "step": 7691, "t": 38.455, "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": 35, "step": 8270, "t": 41.35, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10500, "t": 52.5, "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": 37, "step": 10500, "t": 52.5, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 38, "step": 10500, "t": 52.5, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 39, "step": 10500, "t": 52.5, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p002_e029/env.mp4 b/episodes/c5_p002_e029/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ed851f1bc2b46480a1352a146b97a963ec67ea19 --- /dev/null +++ b/episodes/c5_p002_e029/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef1c5a243eede16fed08381ee255e3e1d41c032c96214531e3bab91d3c4fddac +size 1393070 diff --git a/episodes/c5_p002_e029/meta.json b/episodes/c5_p002_e029/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fad262ddccd3d8688d3a447b6978961ee5a8e78b --- /dev/null +++ b/episodes/c5_p002_e029/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/29", + "fps": 25, + "frames": 1259, + "kept_ticks": "even", + "video_frames": { + "wrist": 1259, + "env": 1259 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e029/scene_snapshot.json b/episodes/c5_p002_e029/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..d9f65d698753f447c00abb28d46b8ad675c7e390 --- /dev/null +++ b/episodes/c5_p002_e029/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 29, + "env_id": 2, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48097991943359375, + 0.1065673828125, + 0.8999999761581421 + ], + "ori": [ + 0.726047158241272, + 0.0, + 0.0, + -0.687644898891449 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 4.373415692093818e-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": 0.2951005003378472, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.20509633758796603, + "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": 0.2951005003378472, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.9730777740478516, + 1.1505393981933594, + 0.8999999761581421 + ], + "ori": [ + -0.004005592782050371, + 1.6948758840840128e-08, + -3.131627579477936e-08, + 0.9999920129776001 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.000624815285846e-08, + 2.1650333792422316e-07, + 3.725290298461914e-08 + ], + "angular_velocity": [ + -4.737641575047746e-06, + 5.393490596361517e-07, + -1.957918584594154e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.692469596862793, + 0.8603858947753906, + 0.8999999761581421 + ], + "ori": [ + 0.6510874629020691, + 3.873372733664837e-09, + 2.1757713852821325e-08, + 0.759002685546875 + ], + "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": [ + -9.523334654204518e-08, + 1.3808964638428733e-08, + 8.195638656616211e-08 + ], + "angular_velocity": [ + -7.081723651936045e-07, + -5.342290933185723e-06, + 3.960500407629297e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.05508613586425781, + 0.4473543167114258, + 0.8999999761581421 + ], + "ori": [ + 0.9999493956565857, + 1.4700584083371382e-09, + -1.0750728085540118e-09, + 0.010062119923532009 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.5040405304821434e-09, + 2.1991797272136182e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -1.2699672424787423e-07, + 2.2996475479430956e-07, + -2.32811228073615e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5902853012084961, + 1.1526508331298828, + 0.8999999761581421 + ], + "ori": [ + -0.010724087245762348, + 4.9336597029991935e-09, + -3.0132318862285956e-09, + 0.9999425411224365 + ], + "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": [ + -1.2820526862356019e-09, + -6.453559908692341e-12, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -5.757183885179984e-08, + -1.53079426468139e-07, + -5.694166915759524e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -0.9626646041870117, + 1.1491374969482422, + 0.9179999828338623 + ], + "ori": [ + -0.028594141826033592, + 4.599296943297304e-08, + -4.993249262952304e-07, + 0.9995911717414856 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.249983481306117e-06, + 3.4289196264580823e-06, + -1.125037670135498e-06 + ], + "angular_velocity": [ + -0.00012193864677101374, + -8.283463102998212e-06, + -3.387410470168106e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.699631690979004, + 0.849456787109375, + 0.9180000424385071 + ], + "ori": [ + 0.6130156517028809, + 2.3644827251700917e-07, + 1.9032111708838784e-07, + 0.7900707721710205 + ], + "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": [ + -2.382503225817345e-06, + 3.4795548344845884e-06, + -7.845461368560791e-06 + ], + "angular_velocity": [ + 4.615374928107485e-05, + -0.000243476708419621, + -8.528702892363071e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -0.04159069061279297, + 0.44257354736328125, + 0.9180000424385071 + ], + "ori": [ + 0.9982622265815735, + 1.9267643036613435e-09, + -1.6274481762224013e-10, + -0.05892857536673546 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.633508687845733e-09, + 2.077094052310713e-08, + -5.617737770080566e-06 + ], + "angular_velocity": [ + -4.660844297177391e-07, + -1.7314728211204056e-06, + -5.430924154836703e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.5915107727050781, + 1.1438789367675781, + 0.9179999828338623 + ], + "ori": [ + -0.08700794726610184, + 5.229753075042254e-09, + -1.8135215551495776e-09, + 0.9962077140808105 + ], + "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": [ + 3.837946138673942e-08, + 6.7195436770362e-08, + -1.300126314163208e-06 + ], + "angular_velocity": [ + -2.9944230846012942e-06, + 1.8371073338130373e-06, + 4.2115502196793386e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 2.299999999999973, + "step": 460, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 4.373415692093818e-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": 0.2951005003378472, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 345, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.123077780008316, + 0.7005394101142883, + 0.0 + ], + "carrier_2": [ + 1.5424695909023285, + 0.4103859066963196, + 0.0 + ], + "carrier_3": [ + -0.2050861418247223, + -0.0026456713676452637, + 0.0 + ], + "carrier_4": [ + 0.4402852952480316, + 0.7026508450508118, + 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 + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.7072044892350907, + -0.31768683239379386, + 3.0169828170267943 + ], + "ori": [ + 12.468286782140506, + -14.477997288372128, + 29.157906749899446 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5766.915398488491, + "color": [ + 0.8754565802352369, + 0.9807315815741932, + 0.8948361469457177 + ], + "intensity": 10739.025729992598, + "width": 2.5433917445390124, + "height": 1.213212361024819 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.4197203146088362, + -0.7239605742975044, + 2.137869986049564 + ], + "ori": [ + -16.002864109895157, + -11.651862768366268, + 18.121756164685685 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4506.3774167222455, + "color": [ + 0.97640750751279, + 0.7678113150451478, + 0.8819519816749882 + ], + "intensity": 4803.710872666639, + "radius": 0.1866225003608829 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1555.9464051278892, + "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": [ + [ + 1.4518975019454956, + -1.298509120941162, + 2.2607243061065674, + -2.5324769020080566, + -1.5701203346252441, + 6.164310455322266, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 0.9141026735305786, + -1.7193979024887085, + 2.0904994010925293, + -1.9419010877609253, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141035676002502, + -1.719396710395813, + 2.090498208999634, + -1.9419004917144775, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.8578877449035645, + -1.1975265741348267, + 2.082017183303833, + -2.4554007053375244, + -1.571109414100647, + 0.25860723853111267, + 0.018000023439526558, + 0.017999975010752678 + ] + ], + "joint_vel": [ + [ + -2.375548488389029e-13, + 3.4059464724123245e-06, + 4.593279966449981e-13, + -2.043586027866695e-05, + 1.0217933777312282e-05, + -2.540758944381827e-13, + 1.8193102846453257e-07, + 1.8193249218256824e-07 + ], + [ + -2.752361219482668e-38, + 2.871889456152339e-38, + 1.5451745420718247e-38, + 3.33481636321732e-37, + -6.4045653510005e-37, + 2.312179908830915e-37, + 2.5990374297180097e-08, + -2.5990399166175848e-08 + ], + [ + 2.629983302255946e-38, + 0.0, + 0.0, + -4.9653484228543165e-37, + 4.283946977982365e-37, + -2.613159985516525e-37, + 2.599039028439165e-08, + -2.599039206074849e-08 + ], + [ + 9.173831494990736e-05, + -0.010623021051287651, + -0.003455599071457982, + 0.013187220320105553, + -3.5616481000033673e-06, + -5.167736389921629e-07, + -6.056277015886735e-06, + 6.0573970586119685e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05079811438918114, + 0.0026354347355663776, + -0.03097468614578247, + -0.2779330909252167, + 0.6605772376060486, + 0.6373591423034668, + -0.2831328809261322 + ], + [ + 0.04948345944285393, + -0.0010657614329829812, + -0.030483802780508995, + -0.2926724851131439, + 0.6417492032051086, + 0.6530043482780457, + -0.2758370041847229 + ], + [ + 0.051922764629125595, + 0.0003995384322479367, + -0.03202630579471588, + -0.2870396375656128, + 0.6423763036727905, + 0.659115731716156, + -0.2655698359012604 + ], + [ + 0.047774575650691986, + -0.0015168830286711454, + -0.028224535286426544, + -0.2834051847457886, + 0.6395087838172913, + 0.6525651216506958, + -0.29132238030433655 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e029/wrist.mp4 b/episodes/c5_p002_e029/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dee77941d27c2976a53f6395da0e8c621c21a948 --- /dev/null +++ b/episodes/c5_p002_e029/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:601b507f26068863f30f4fd002a5c1966b2b8bcd785208a3221f50f07f9d76cc +size 6518799 diff --git a/episodes/c6_p000_e000/data.npz b/episodes/c6_p000_e000/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..38e150817fe645136b7df64511c992b90eefc311 --- /dev/null +++ b/episodes/c6_p000_e000/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a85271b26e256afdba9e43a3886ae8d27d0451344e4dc1f67dc196f52cea908 +size 189658 diff --git a/episodes/c6_p000_e000/device_events.jsonl b/episodes/c6_p000_e000/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2d33c1eaa58eb202e639bee54308b9b886f74f93 --- /dev/null +++ b/episodes/c6_p000_e000/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 155, "t": 0.775, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 155, "t": 0.775, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 160, "t": 0.8, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1617, "t": 8.085, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6751, "t": 33.755, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 7364, "t": 36.82, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7364, "t": 36.82, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.1756087095619754}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 7364, "t": 36.82, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 9, "step": 7364, "t": 36.82, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 10, "step": 7364, "t": 36.82, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 11, "step": 7783, "t": 38.915, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 12, "step": 7783, "t": 38.915, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 7783, "t": 38.915, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7783, "t": 38.915, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 7783, "t": 38.915, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7783, "t": 38.915, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 7783, "t": 38.915, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 18, "step": 7783, "t": 38.915, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 19, "step": 7783, "t": 38.915, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.1756087095619754}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 8419, "t": 42.095, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 21, "step": 8419, "t": 42.095, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.180000000001627}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8419, "t": 42.095, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.180000000001627}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 8419, "t": 42.095, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 24, "step": 8419, "t": 42.095, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 25, "step": 8419, "t": 42.095, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 26, "step": 8839, "t": 44.195, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 27, "step": 8839, "t": 44.195, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.2010134553541718e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8839, "t": 44.195, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.2010134553541718e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8839, "t": 44.195, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 8839, "t": 44.195, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8839, "t": 44.195, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 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": 33, "step": 11136, "t": 55.68, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11136, "t": 55.68, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 11136, "t": 55.68, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 11136, "t": 55.68, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c6_p000_e000/env.mp4 b/episodes/c6_p000_e000/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3b613d43aa5b970e4647f18d3ef959ffdc0f3896 --- /dev/null +++ b/episodes/c6_p000_e000/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b4b744cfa9134bf9134feb6611829b7d995d0d669f0b268905420f955b09e3c +size 1303099 diff --git a/episodes/c6_p000_e000/meta.json b/episodes/c6_p000_e000/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b836614902d621b2b2318b5a65a8759519cb1a5f --- /dev/null +++ b/episodes/c6_p000_e000/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/0", + "fps": 25, + "frames": 1246, + "kept_ticks": "even", + "video_frames": { + "wrist": 1246, + "env": 1246 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e000/scene_snapshot.json b/episodes/c6_p000_e000/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..9232b53997eef72f8120ce0befe285143a3b6e7d --- /dev/null +++ b/episodes/c6_p000_e000/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "c6_p000", + "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_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": [ + 0.4785776138305664, + 0.06960201263427734, + 0.8999999761581421 + ], + "ori": [ + -0.706503689289093, + 0.0, + 0.0, + 0.7077093720436096 + ], + "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": [ + 1.3456664168381982e-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": 0.24077509091026283, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.12222681746699332, + "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": 0.24077509091026283, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.027825355529785156, + 0.4470233917236328, + 0.8999999761581421 + ], + "ori": [ + 0.9999796748161316, + 6.203822522365954e-08, + -1.1714675451912626e-07, + 0.0063863834366202354 + ], + "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": [ + 2.603266491263412e-10, + 1.0501717273569966e-09, + 0.0 + ], + "angular_velocity": [ + -5.456423934901977e-08, + 2.6818071319212322e-08, + 1.0021667939952295e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3024482727050781, + 1.1525077819824219, + 0.8999999761581421 + ], + "ori": [ + -0.009920482523739338, + 2.6385585383259524e-10, + -2.4595572245544872e-09, + 0.9999507665634155 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.6803824998135042e-10, + -1.5989702895069513e-09, + 0.0 + ], + "angular_velocity": [ + 1.4206479193035193e-07, + -2.9011273383616754e-09, + -6.284756270957814e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3969039916992188, + 0.7817926406860352, + 0.8999999761581421 + ], + "ori": [ + -0.7193453311920166, + -6.027859456025908e-08, + -1.4961968020088534e-07, + 0.6946527361869812 + ], + "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": [ + 2.728213566172144e-08, + -4.8086974402394844e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.4703181250297348e-07, + 2.4236817353084916e-06, + -7.943833679746604e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6928138732910156, + 0.8568458557128906, + 0.8999999761581421 + ], + "ori": [ + 0.6524931788444519, + -8.606938450839152e-08, + 5.0304347354312995e-08, + 0.7577945590019226 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.18457931931016e-09, + 9.683877699728782e-09, + 1.0058283805847168e-07 + ], + "angular_velocity": [ + -8.643831961308024e-07, + -7.615064419042028e-07, + -2.516484798320562e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.029550552368164062, + 0.4347085952758789, + 0.9179999828338623 + ], + "ori": [ + 0.9994620680809021, + 6.746668645973841e-08, + -1.1621420270557792e-07, + -0.032795313745737076 + ], + "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": [ + -3.763994982364238e-08, + 2.738515192390878e-09, + 8.568167686462402e-08 + ], + "angular_velocity": [ + -5.634359467876493e-07, + -1.6902210973057663e-06, + 1.1775914998679582e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.3088827133178711, + 1.1645317077636719, + 0.9180000424385071 + ], + "ori": [ + -0.008430615067481995, + 6.500805449505265e-10, + -4.5162371620222075e-09, + 0.9999645352363586 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9575145060457544e-08, + -3.1149589574397396e-08, + -5.2228569984436035e-06 + ], + "angular_velocity": [ + 1.5358895097961067e-06, + 1.952676939254161e-06, + 1.343271378573263e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.3861351013183594, + 0.7725553512573242, + 0.9179999828338623 + ], + "ori": [ + -0.7267521023750305, + -3.650970654689445e-07, + 4.4625113559959573e-07, + 0.6868999004364014 + ], + "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": [ + 2.9313982849998865e-06, + -8.336557584698312e-06, + -3.121793270111084e-06 + ], + "angular_velocity": [ + 2.7653561119223014e-05, + 7.083421223796904e-06, + -4.387773515190929e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.6923608779907227, + 0.8584232330322266, + 0.9179999828338623 + ], + "ori": [ + 0.6701822280883789, + -8.619285551958455e-08, + 5.152247695150436e-08, + 0.7421966195106506 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.7933758417475474e-08, + 1.5122640917297758e-08, + -1.2330710887908936e-06 + ], + "angular_velocity": [ + 1.982474032047321e-06, + 9.794715651878505e-07, + 9.142991075350437e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 6.0399999999998935, + "step": 1208, + "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": 1.3456664168381982e-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": 0.24077509091026283, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1052, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.12217465043067932, + -0.0029765963554382324, + 0.0 + ], + "carrier_2": [ + 0.15244826674461365, + 0.7025077939033508, + 0.0 + ], + "carrier_3": [ + -1.5469039976596832, + 0.3317926526069641, + 0.0 + ], + "carrier_4": [ + 1.5428138673305511, + 0.4068458676338196, + 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": [ + -0.4040926904705132, + -0.20957669128170803, + 2.9609153711662137 + ], + "ori": [ + 13.04363528311524, + 2.8392544737675856, + 18.761516616542146 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4512.087349279891, + "color": [ + 0.8441102454784914, + 0.8762329384474373, + 0.8604631329970897 + ], + "intensity": 10532.827228570757, + "width": 2.3051961733083783, + "height": 1.6320843160550482 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.21501041968362, + 0.43679588388522395, + 2.4602642133531236 + ], + "ori": [ + 5.352235709926049, + 14.220191001952216, + -2.2793298442238026 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4830.18747353729, + "color": [ + 0.9344813718214989, + 0.9944053494982266, + 0.8402639665020271 + ], + "intensity": 8188.383553464026, + "radius": 0.37844095204446815 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 567.4224543935063, + "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": [ + [ + 0.05377916246652603, + 0.0006059687584638596, + -0.03030707687139511, + -0.2724158763885498, + 0.653462290763855, + 0.6456980109214783, + -0.28609561920166016 + ], + [ + 0.049797940999269485, + -0.0016672468045726418, + -0.02700452134013176, + -0.2843303680419922, + 0.6433658599853516, + 0.6548783183097839, + -0.276353120803833 + ], + [ + 0.05042395740747452, + 0.0023104208521544933, + -0.029281510040163994, + -0.28024935722351074, + 0.6549237370491028, + 0.6351390480995178, + -0.29855257272720337 + ], + [ + 0.04975639283657074, + -0.003004886908456683, + -0.03074914589524269, + -0.2885912358760834, + 0.6448505520820618, + 0.6506209373474121, + -0.27852341532707214 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e000/wrist.mp4 b/episodes/c6_p000_e000/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4c86c0e9e25287cbbe7e664ec2cae3921e0bc63b --- /dev/null +++ b/episodes/c6_p000_e000/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d7da128a9eb419fa18af036fa358d73843f0c67632292a6cd66e714ace24592 +size 7240298 diff --git a/episodes/c6_p000_e001/data.npz b/episodes/c6_p000_e001/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..75e364ce61eca4f5c6580a180d276f302db06ad4 --- /dev/null +++ b/episodes/c6_p000_e001/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c228d868aa77c9c8bf3243281be34a815aa576818272d25cc9bbff199dc9bab5 +size 185468 diff --git a/episodes/c6_p000_e001/device_events.jsonl b/episodes/c6_p000_e001/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c22972a0abbf92847e94a2b7273b7ec0f61d6061 --- /dev/null +++ b/episodes/c6_p000_e001/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 62, "t": 0.31, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 62, "t": 0.31, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 67, "t": 0.335, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 2162, "t": 10.81, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6795, "t": 33.975, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 7408, "t": 37.04, "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": 7408, "t": 37.04, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.376311275522081}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 7408, "t": 37.04, "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": 7408, "t": 37.04, "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": 7408, "t": 37.04, "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": 7827, "t": 39.135, "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": 7827, "t": 39.135, "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": 7827, "t": 39.135, "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": 7827, "t": 39.135, "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": 7827, "t": 39.135, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7827, "t": 39.135, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 7827, "t": 39.135, "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": 7827, "t": 39.135, "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": 7827, "t": 39.135, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.376311275522081}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 8703, "t": 43.515, "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": 8703, "t": 43.515, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.380000000002241}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8703, "t": 43.515, "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": 4.380000000002241}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 8703, "t": 43.515, "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": 8703, "t": 43.515, "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": 8703, "t": 43.515, "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": 9123, "t": 45.615, "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": 9123, "t": 45.615, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.743606453137204e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 9123, "t": 45.615, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.743606453137204e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 9123, "t": 45.615, "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": 9123, "t": 45.615, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 9123, "t": 45.615, "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": 9702, "t": 48.51, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 33, "step": 11428, "t": 57.14, "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": 11428, "t": 57.14, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 11428, "t": 57.14, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 11428, "t": 57.14, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c6_p000_e001/env.mp4 b/episodes/c6_p000_e001/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1ed1bc728b146e393866e26ae253bddb4f8e4901 --- /dev/null +++ b/episodes/c6_p000_e001/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c21f0800e99754956176d79a1ff8d9c5bb15b745ac09e4398070aaf17085689 +size 1251252 diff --git a/episodes/c6_p000_e001/meta.json b/episodes/c6_p000_e001/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cce3f64034e423ce3358c2c1695f045458eab436 --- /dev/null +++ b/episodes/c6_p000_e001/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/1", + "fps": 25, + "frames": 1219, + "kept_ticks": "even", + "video_frames": { + "wrist": 1219, + "env": 1219 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e001/scene_snapshot.json b/episodes/c6_p000_e001/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..49882fb11d0e64873bf5bb51f57eab91f4a13d3d --- /dev/null +++ b/episodes/c6_p000_e001/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 1, + "env_id": 3, + "run_id": "c6_p000", + "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/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": [ + 0.5043811798095703, + 0.1029367446899414, + 0.8999999761581421 + ], + "ori": [ + -0.6904402375221252, + 0.0, + 0.0, + 0.7233894467353821 + ], + "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": 0.22079681275608834, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.256073122568499, + "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": 0.22079681275608834, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3703536987304688, + 0.9383268356323242, + 0.8999999761581421 + ], + "ori": [ + -0.5487525463104248, + 4.912772055831738e-08, + 3.7269330732669914e-08, + 0.8359848856925964 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.520666921503107e-09, + -2.794005027340063e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -5.9266991314643747e-08, + 3.0570862463719095e-07, + 7.78772744070011e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4284353256225586, + 1.1499948501586914, + 0.8999999761581421 + ], + "ori": [ + 4.355140481493436e-05, + 5.6113176327698966e-08, + -1.539682714657431e-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": [ + -3.378750612625936e-10, + 5.266627134403734e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -2.6357506044405454e-07, + -6.639491090254523e-08, + 1.043734521033457e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4591865539550781, + 0.4710702896118164, + 0.8999999761581421 + ], + "ori": [ + 0.9883289933204651, + 4.1418825702521644e-08, + 1.0121698323928285e-07, + 0.15233446657657623 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1121983334305696e-09, + -5.499316557688871e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.3012868294026703e-07, + -1.1617521522566676e-07, + 4.305093170842156e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.10570716857910156, + 0.4499959945678711, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.321370678488478e-10, + 4.389705043905678e-09, + -4.890284617431462e-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": [ + 1.481051725704674e-09, + 5.217689613701282e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -3.871794973520082e-08, + 1.518805419209457e-07, + -4.894054494997135e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -1.360569953918457, + 0.9497108459472656, + 0.9179999828338623 + ], + "ori": [ + -0.613373339176178, + 5.330750596499456e-08, + 3.398545089794425e-08, + 0.7897931337356567 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.7051787476750633e-09, + 2.950380206812042e-08, + 8.940696716308594e-08 + ], + "angular_velocity": [ + -1.930319740495179e-06, + -5.004228569305269e-07, + 1.2931037929320155e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.4393291473388672, + 1.1591310501098633, + 0.9180000424385071 + ], + "ori": [ + -0.07632359862327576, + 5.561430072020812e-08, + -6.309575972807124e-09, + 0.9970831274986267 + ], + "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": [ + 1.2245822134104856e-08, + 5.179307294156388e-08, + -5.822628736495972e-06 + ], + "angular_velocity": [ + -1.6098928199426155e-06, + 1.7814620605349774e-06, + -5.8254705948002083e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 1.4625377655029297, + 0.4801359176635742, + 0.9180000424385071 + ], + "ori": [ + 0.9937469959259033, + 3.800289505306864e-08, + 1.0344714951315837e-07, + 0.1116553246974945 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.279775905364659e-08, + -5.052129381510895e-08, + 1.564621925354004e-07 + ], + "angular_velocity": [ + 2.205468263127841e-06, + -2.5356566766276956e-06, + 2.1170507125134463e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -0.10293292999267578, + 0.4582986831665039, + 0.9179999828338623 + ], + "ori": [ + 0.9999657273292542, + -8.228878023430752e-09, + 3.248420421542164e-09, + -0.00827884767204523 + ], + "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": [ + -3.228212364092542e-08, + -2.933424525508599e-08, + -2.4586915969848633e-06 + ], + "angular_velocity": [ + 1.5294547210942255e-06, + -1.7621377992327325e-06, + -1.7007412367320285e-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": 8.579999999999941, + "step": 1716, + "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": 0.22079681275608834, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1653, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5203537046909332, + 0.4883268475532532, + 0.0 + ], + "carrier_2": [ + 0.2784353196620941, + 0.6999948620796204, + 0.0 + ], + "carrier_3": [ + 1.3091865479946136, + 0.02107030153274536, + 0.0 + ], + "carrier_4": [ + -0.25570717453956604, + -3.993511199951172e-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": [ + 0.3657194837484331, + 0.2696396521557489, + 3.041969995060167 + ], + "ori": [ + -13.3508754904523, + -13.30150631225762, + 4.287589254160615 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3959.0911204769714, + "color": [ + 0.8780534730121488, + 0.8883637634103225, + 0.7907533413027068 + ], + "intensity": 13189.36619698509, + "width": 2.766595103742761, + "height": 0.9721315511539285 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.1082161495615157, + 1.5004952570834191, + 1.9369121948731485 + ], + "ori": [ + -22.43128016209731, + 20.84700457052412, + -6.196472860399432 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6545.255403636641, + "color": [ + 0.8624993953840056, + 0.9742666535135278, + 0.987780696200532 + ], + "intensity": 10442.793213014547, + "radius": 0.46460835396874556 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 567.4224543935063, + "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": [ + [ + 0.8969005942344666, + -1.289987325668335, + 2.263280153274536, + -2.544058322906494, + -1.5708389282226562, + 2.53314208984375, + 0.0076688239350914955, + 0.007122283335775137 + ], + [ + 1.0069396495819092, + -1.4860097169876099, + 2.2032947540283203, + -2.2880449295043945, + -1.5707855224609375, + 2.7330856323242188, + 0.018000049516558647, + 0.017999950796365738 + ], + [ + 1.0559333562850952, + -1.2924246788024902, + 2.2669737339019775, + -2.545269250869751, + -1.5708813667297363, + 2.5582938194274902, + 0.007782144006341696, + 0.007338162511587143 + ], + [ + 0.9141013622283936, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -0.0003233935567550361, + -3.1965694233804243e-06, + -4.694093149737455e-05, + -0.001693731639534235, + 0.0016965685645118356, + 0.005769801791757345, + -0.007326072081923485, + 0.0002804973046295345 + ], + [ + -8.49880525493063e-05, + 0.015232359990477562, + 0.009629546664655209, + -0.023697348311543465, + -7.878049473220017e-06, + 0.00010858291352633387, + -6.612102424696786e-06, + 6.5878011810127646e-06 + ], + [ + -0.0008462492260150611, + 4.1504023101879284e-05, + 0.00014187108899932355, + -0.003804015228524804, + 0.003069522324949503, + 0.01252028252929449, + -0.006189512554556131, + 0.00035182718420401216 + ], + [ + -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": [ + [ + 0.05321305990219116, + 0.0005647381767630577, + -0.02968106046319008, + -0.2736409604549408, + 0.654295027256012, + 0.6454023122787476, + -0.283680260181427 + ], + [ + 0.04783513769507408, + -0.0036871149204671383, + -0.02845442295074463, + -0.2829154133796692, + 0.6454479098320007, + 0.6513553857803345, + -0.28123313188552856 + ], + [ + 0.046697672456502914, + 0.0035948308650404215, + -0.028747620061039925, + -0.2772734463214874, + 0.6571403741836548, + 0.6369501948356628, + -0.2925412058830261 + ], + [ + 0.05013968050479889, + -0.00012770899047609419, + -0.027503058314323425, + -0.2843722701072693, + 0.6516844630241394, + 0.6480833888053894, + -0.27281445264816284 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e001/wrist.mp4 b/episodes/c6_p000_e001/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0cbf8d35d1ebd1ea2a9f79464dc1018363d1fe26 --- /dev/null +++ b/episodes/c6_p000_e001/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e96d61c19d4f05071ad3775e0a14a42527eb0eaef5ce8d1063315540fcbc75d +size 7273200 diff --git a/episodes/c6_p000_e002/data.npz b/episodes/c6_p000_e002/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..749fd01ac0176f81bd4466888ad20df08141db11 --- /dev/null +++ b/episodes/c6_p000_e002/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:090dbe0b0b31f6cd50631cdb0446f5381d9cfbf6c53dd3338555425c0a12eb15 +size 198005 diff --git a/episodes/c6_p000_e002/device_events.jsonl b/episodes/c6_p000_e002/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..82984b3045aa24bd95fb8c5fc7acf2177711e5cf --- /dev/null +++ b/episodes/c6_p000_e002/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 249, "t": 1.245, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 249, "t": 1.245, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 254, "t": 1.27, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6719, "t": 33.595, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 7332, "t": 36.66, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 6, "step": 7332, "t": 36.66, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.3034990390002936}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7332, "t": 36.66, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 8, "step": 7332, "t": 36.66, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 7332, "t": 36.66, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 7751, "t": 38.755, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 7751, "t": 38.755, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 7751, "t": 38.755, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7751, "t": 38.755, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7751, "t": 38.755, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7751, "t": 38.755, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7751, "t": 38.755, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 17, "step": 7751, "t": 38.755, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 7751, "t": 38.755, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.3034990390002936}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 8412, "t": 42.06, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 8412, "t": 42.06, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.305000000001691}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 8412, "t": 42.06, "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": 3.305000000001691}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8412, "t": 42.06, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 23, "step": 8412, "t": 42.06, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 8412, "t": 42.06, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 8832, "t": 44.16, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 8832, "t": 44.16, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8832, "t": 44.16, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8832, "t": 44.16, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8832, "t": 44.16, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8832, "t": 44.16, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 9411, "t": 47.055, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 11684, "t": 58.42, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 33, "step": 11684, "t": 58.42, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 11684, "t": 58.42, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 11684, "t": 58.42, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c6_p000_e002/env.mp4 b/episodes/c6_p000_e002/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..586bf7653e4f2c5d1690d4eec00586b1b029220e --- /dev/null +++ b/episodes/c6_p000_e002/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c1ebdcff7ca34b852156e7086561538e47deba9de3ff21c652c50bee0e77b32 +size 1355293 diff --git a/episodes/c6_p000_e002/meta.json b/episodes/c6_p000_e002/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7b5358e122a4f280d71a469dd7932030ea651fbd --- /dev/null +++ b/episodes/c6_p000_e002/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/2", + "fps": 25, + "frames": 1304, + "kept_ticks": "even", + "video_frames": { + "wrist": 1304, + "env": 1304 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e002/scene_snapshot.json b/episodes/c6_p000_e002/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..acad2a598174be2e758c81b95edef152f2951502 --- /dev/null +++ b/episodes/c6_p000_e002/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 2, + "env_id": 2, + "run_id": "c6_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_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": [ + 0.46108436584472656, + 0.05295372009277344, + 0.8999999761581421 + ], + "ori": [ + 0.7118666768074036, + 0.0, + 0.0, + -0.7023146152496338 + ], + "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": [ + 4.7098284473856555e-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": 0.15651012456045216, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.18765041340645625, + "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": 0.15651012456045216, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.543060302734375, + 0.5117912292480469, + 0.8999999761581421 + ], + "ori": [ + 0.9575358033180237, + -7.238036392465119e-09, + -9.136789458352723e-08, + 0.2883145213127136 + ], + "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": [ + 1.0054340693343988e-10, + -1.0652386611686993e-10, + 0.0 + ], + "angular_velocity": [ + 7.380347000207621e-09, + 6.5783289926457655e-09, + 7.061080609105375e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3831758499145508, + 0.8991842269897461, + 0.8999999761581421 + ], + "ori": [ + -0.5949182510375977, + 1.4984060214828787e-07, + -2.513952246374629e-08, + 0.8037862777709961 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.817351629769149e-10, + 2.903824125599641e-10, + 0.0 + ], + "angular_velocity": [ + -2.2335424176844754e-08, + -4.929496810746059e-09, + 2.9863538308916304e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4274568557739258, + 1.1523065567016602, + 0.8999999761581421 + ], + "ori": [ + -0.013807753100991249, + 2.3358170953002855e-10, + 1.3390086817111069e-09, + 0.9999047517776489 + ], + "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": [ + -8.630562930989072e-10, + 2.926082265375385e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -8.314941624121275e-08, + -7.972492710450751e-08, + 1.820744088831816e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.03728199005126953, + 0.44766712188720703, + 0.8999999761581421 + ], + "ori": [ + 0.9999161958694458, + -5.986549922454287e-09, + 1.511319069891215e-08, + 0.01294998824596405 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.955468758614188e-09, + -1.1754330841995397e-08, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 5.7621679161457e-07, + -1.5916306495000754e-07, + 2.4179312774208483e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.544203758239746, + 0.5046043395996094, + 0.9179999828338623 + ], + "ori": [ + 0.9475910067558289, + -1.3696757505954338e-08, + -9.369302489403708e-08, + 0.31948623061180115 + ], + "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": [ + -7.15240844328946e-09, + -2.123896081229759e-08, + 4.842877388000488e-08 + ], + "angular_velocity": [ + 1.195283402921632e-06, + -6.213613232830539e-07, + -1.878301958413431e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.3913345336914062, + 0.9048070907592773, + 0.9180000424385071 + ], + "ori": [ + -0.6492095589637756, + 1.486294962660395e-07, + -3.445608243168863e-08, + 0.7606096863746643 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4252545810222728e-08, + 2.3604263432730477e-08, + -5.189329385757446e-06 + ], + "angular_velocity": [ + -2.1044654658908257e-06, + 3.597187969717197e-07, + 6.865712975923088e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.4372386932373047, + 1.1422157287597656, + 0.9180000424385071 + ], + "ori": [ + -0.0848516896367073, + 5.700746541492663e-10, + -1.0020038132552145e-09, + 0.996393620967865 + ], + "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": [ + 8.94594442968355e-09, + 4.150487598053587e-08, + -5.379319190979004e-06 + ], + "angular_velocity": [ + -8.92808316166338e-07, + 8.209141242332407e-07, + 1.2223809520151008e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -0.040635108947753906, + 0.43622398376464844, + 0.9179999828338623 + ], + "ori": [ + 0.9994217157363892, + -4.0025165404244945e-09, + 1.4833403838565573e-08, + 0.0340028740465641 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.500607151518125e-08, + -4.095513261859196e-08, + -1.5459954738616943e-06 + ], + "angular_velocity": [ + 2.1326516730368894e-07, + -3.211550620108028e-06, + 9.475512996459656e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 6.559999999999882, + "step": 1312, + "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": 4.7098284473856555e-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": 0.15651012456045216, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1062, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.3930602967739105, + 0.06179124116897583, + 0.0 + ], + "carrier_2": [ + -1.5331758558750153, + 0.44918423891067505, + 0.0 + ], + "carrier_3": [ + 0.2774568498134613, + 0.7023065686225891, + 0.0 + ], + "carrier_4": [ + -0.187281996011734, + -0.0023328661918640137, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.16680352982859847, + 0.5487508816711995, + 2.977977126173049 + ], + "ori": [ + 13.087903118375706, + -5.253001078367669, + -1.363675479667883 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5770.761552889262, + "color": [ + 0.8814416131063858, + 0.8001374285608716, + 0.8539469690835253 + ], + "intensity": 14310.119702225475, + "width": 1.8954377403579743, + "height": 1.6113735383969807 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.8991029780727494, + -0.5259012654669551, + 2.4775473333655844 + ], + "ori": [ + -38.642941492230285, + 2.6121463983574884, + -39.48728599354168 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6564.522436264947, + "color": [ + 0.9237620497904501, + 0.7875201084203207, + 0.8737446693808378 + ], + "intensity": 7116.2182223649625, + "radius": 0.15895260418487592 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 567.4224543935063, + "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": [ + [ + 0.9011380076408386, + -1.5824004411697388, + 2.1239752769470215, + -2.112323045730591, + -1.5707985162734985, + 2.521314859390259, + 0.018000824376940727, + 0.017999187111854553 + ], + [ + 0.9141010046005249, + -1.719397783279419, + 2.09049916267395, + -1.9419004917144775, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141013622283936, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -0.002418802585452795, + 0.023401372134685516, + 0.0058325850404798985, + -0.0276663675904274, + -8.260803951998241e-06, + 0.005930475424975157, + 1.7798578483052552e-05, + -1.7920616301125847e-05 + ], + [ + 5.108949153509457e-06, + -9.968765484586698e-15, + -6.155110600890301e-14, + -1.478128058320094e-14, + 3.824292770480964e-15, + 1.1109809903639412e-12, + -2.599010073822683e-08, + 2.5990644303419685e-08 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -1.4291511658587966e-35, + 5.045055301892472e-35, + 2.480387498604514e-35, + 4.671499498001717e-36, + -1.2853471821151815e-36, + 4.337454158544144e-37, + 2.5990399166175848e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.050738248974084854, + -0.00015662402438465506, + -0.026690399274230003, + -0.27571284770965576, + 0.651523768901825, + 0.6480171084403992, + -0.2820868194103241 + ], + [ + 0.04880669713020325, + 0.0005150121287442744, + -0.027996383607387543, + -0.27859264612197876, + 0.644921600818634, + 0.6527268886566162, + -0.28356629610061646 + ], + [ + 0.05026443302631378, + 0.0006847024778835475, + -0.029530370607972145, + -0.27715766429901123, + 0.6539199352264404, + 0.6379355192184448, + -0.29767537117004395 + ], + [ + 0.049036670476198196, + -0.0016099015483632684, + -0.029955105856060982, + -0.2795873284339905, + 0.6498010754585266, + 0.6503400802612305, + -0.2768523693084717 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e002/wrist.mp4 b/episodes/c6_p000_e002/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c922afcaa3b03e2f41f819f25b41f749aac077a3 --- /dev/null +++ b/episodes/c6_p000_e002/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac7bc2eae3438f0df4e62efc3b4ecf3e5be6a033ceff33ede4caa2791a0f3531 +size 7436903 diff --git a/episodes/c6_p000_e003/data.npz b/episodes/c6_p000_e003/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5e229e43ee0417186d02dc5ae6ce21f3ee765d1b --- /dev/null +++ b/episodes/c6_p000_e003/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d82f43660182645ec0c5d82974f14a3f73718fefb13d9c28771a41693bba026d +size 202149 diff --git a/episodes/c6_p000_e003/device_events.jsonl b/episodes/c6_p000_e003/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..966048a63b2367d74fc9bced45de09dffde48f0c --- /dev/null +++ b/episodes/c6_p000_e003/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 64, "t": 0.32, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 64, "t": 0.32, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 69, "t": 0.345, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1898, "t": 9.49, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6742, "t": 33.71, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 7356, "t": 36.78, "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": 7356, "t": 36.78, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.518582972385497}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 7356, "t": 36.78, "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": 7356, "t": 36.78, "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": 7356, "t": 36.78, "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": 7775, "t": 38.875, "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": 7775, "t": 38.875, "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": 7775, "t": 38.875, "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": 7775, "t": 38.875, "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": 7775, "t": 38.875, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7775, "t": 38.875, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 7775, "t": 38.875, "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": 7775, "t": 38.875, "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": 7775, "t": 38.875, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.518582972385497}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 8679, "t": 43.395, "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": 8679, "t": 43.395, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.520000000002312}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8679, "t": 43.395, "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": 4.520000000002312}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 8679, "t": 43.395, "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": 8679, "t": 43.395, "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": 8679, "t": 43.395, "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": 9099, "t": 45.495, "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": 9099, "t": 45.495, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 9099, "t": 45.495, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 9099, "t": 45.495, "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": 9099, "t": 45.495, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 9099, "t": 45.495, "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": 9679, "t": 48.395, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 33, "step": 11952, "t": 59.76, "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": 11952, "t": 59.76, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 11952, "t": 59.76, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 11952, "t": 59.76, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c6_p000_e003/env.mp4 b/episodes/c6_p000_e003/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5540a2cfa20950f8fdeeb4cdfb446d34b7eba108 --- /dev/null +++ b/episodes/c6_p000_e003/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c472f3cce7f7eab6f8777eed3d99f2b9fa33e203c1cc0fcbd88b3dc2bafa8a1e +size 1498159 diff --git a/episodes/c6_p000_e003/meta.json b/episodes/c6_p000_e003/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5d1564dc7518bc3802f2f1193eb1dd197b339d28 --- /dev/null +++ b/episodes/c6_p000_e003/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/3", + "fps": 25, + "frames": 1314, + "kept_ticks": "even", + "video_frames": { + "wrist": 1314, + "env": 1314 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e003/scene_snapshot.json b/episodes/c6_p000_e003/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..8f1db795386cbabf9592ede0cf782eb011586656 --- /dev/null +++ b/episodes/c6_p000_e003/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 3, + "env_id": 1, + "run_id": "c6_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5073986053466797, + 0.06928730010986328, + 0.8999999761581421 + ], + "ori": [ + -0.6957700252532959, + 0.0, + 0.0, + 0.718264639377594 + ], + "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": 0.246165024636186, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.17324193474818375, + "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": 0.246165024636186, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.022922515869140625, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.344455296565684e-09, + -1.1070215577557718e-10, + -1.4859158000035677e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.032470414192744e-09, + 6.343329195246383e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -4.52135893169725e-08, + 1.9346718715951283e-07, + -5.420077275886115e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.3694782257080078, + 0.4528818130493164, + 0.8999999761581421 + ], + "ori": [ + 0.999422013759613, + 2.3550423833285095e-08, + 1.0202104050449634e-07, + 0.03399636968970299 + ], + "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": [ + -6.1884986024551836e-09, + 2.8784270966752956e-08, + 5.960464477539063e-08 + ], + "angular_velocity": [ + -5.803767635370605e-07, + -1.962089299922809e-06, + 3.5606160508905305e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.7049179077148438, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + -6.527634923259029e-06, + 1.791571668796621e-09, + -1.2960816420104493e-08, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.5751561711094837e-09, + 9.384062593653653e-08, + -7.450580596923828e-09 + ], + "angular_velocity": [ + -2.8718986868625507e-06, + -3.6100249189985334e-07, + -3.501154708374088e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3948945999145508, + 0.7642879486083984, + 0.9000003933906555 + ], + "ori": [ + -0.729838490486145, + 3.0180560770531883e-06, + -8.993074516183697e-06, + 0.6836196184158325 + ], + "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": [ + -2.4704175302758813e-05, + 1.644712574488949e-05, + -6.300210952758789e-05 + ], + "angular_velocity": [ + -0.00150606082752347, + -0.0021675839088857174, + -1.7733065760694444e-05 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -0.020757675170898438, + 0.457427978515625, + 0.9179999828338623 + ], + "ori": [ + 0.9969565868377686, + 6.3451794929392236e-09, + 4.422233967904532e-10, + -0.07795936614274979 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5256238938832212e-08, + -7.61226104373236e-09, + 1.4901161193847656e-07 + ], + "angular_velocity": [ + 6.952675448701484e-07, + -2.0005977603432257e-06, + -4.875674619597703e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.3836345672607422, + 0.4437694549560547, + 0.9180000424385071 + ], + "ori": [ + 0.9916481971740723, + -3.852010763694125e-07, + -5.8644488376558e-08, + 0.12897296249866486 + ], + "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": [ + 4.733417881652713e-06, + 4.065798293595435e-06, + -7.849186658859253e-06 + ], + "angular_velocity": [ + -0.00014512857887893915, + -1.886840254883282e-05, + -3.451584780123085e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.7012176513671875, + 1.1518831253051758, + 0.9179999828338623 + ], + "ori": [ + -0.0702606812119484, + 4.2480436945879774e-08, + -3.052181796192599e-07, + 0.9975286722183228 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.000728611368686e-06, + 1.2547632195492042e-06, + -5.509704351425171e-06 + ], + "angular_velocity": [ + 6.547811790369451e-05, + 1.4958567589928862e-05, + -4.14333917433396e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.3937206268310547, + 0.7722482681274414, + 0.9179999828338623 + ], + "ori": [ + -0.7020146250724792, + 1.1895236639247742e-05, + -1.3652434063260444e-05, + 0.7121626138687134 + ], + "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": [ + -4.834257924812846e-05, + 2.494867476343643e-05, + -0.00010461360216140747 + ], + "angular_velocity": [ + -0.0010575820924714208, + -0.0020052592735737562, + 8.966409950517118e-06 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 7.359999999999865, + "step": 1472, + "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": 0.246165024636186, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1407, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.1729225218296051, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_2": [ + 1.2194782197475433, + 0.0028818249702453613, + 0.0 + ], + "carrier_3": [ + 0.5549179017543793, + 0.699998676776886, + 0.0 + ], + "carrier_4": [ + -1.5448946058750153, + 0.3142879605293274, + 5.364418029785156e-07 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.2133183187175186, + -0.025474140785033905, + 3.115422562004403 + ], + "ori": [ + -0.9280511078495, + 3.2459135943679627, + 24.15861928989927 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3233.920873599702, + "color": [ + 0.9795352637721846, + 0.9055055672960094, + 0.8788420493488533 + ], + "intensity": 11661.25907142225, + "width": 2.56257576107701, + "height": 1.1738816997073696 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.5231666769712016, + -0.5052628416160483, + 2.170445541497147 + ], + "ori": [ + 7.719155859916505, + -10.575252500484787, + 14.984664901105532 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4825.891749705469, + "color": [ + 0.8442498494344022, + 0.9358619888893314, + 0.9663961036913107 + ], + "intensity": 6983.437428820737, + "radius": 0.20462806988628174 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 567.4224543935063, + "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": [ + [ + 0.8969448804855347, + -1.4391285181045532, + 2.2046773433685303, + -2.3363053798675537, + -1.5707948207855225, + 2.533083438873291, + 0.018000047653913498, + 0.017999950796365738 + ], + [ + 0.9141010642051697, + -1.719397783279419, + 2.09049916267395, + -1.9419004917144775, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 1.0548574924468994, + -1.5382249355316162, + 2.141392230987549, + -2.173943281173706, + -1.570792317390442, + 2.558136463165283, + 0.01800001598894596, + 0.017999982461333275 + ], + [ + 0.9141013622283936, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -0.00013531185686588287, + 0.01634349673986435, + 0.008866392076015472, + -0.02401645854115486, + -7.5811244641954545e-06, + 2.682948252186179e-05, + -6.70482222631108e-06, + 6.706359727104427e-06 + ], + [ + 2.3021862405469203e-38, + -1.9620815744257298e-38, + 1.2895017518022117e-38, + -5.7362235594005475e-37, + 5.7705246553141675e-37, + -2.980420941466089e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + -7.056556933093816e-05, + 0.006084737367928028, + 0.005347250495105982, + -0.010833576321601868, + -1.0324349204893224e-05, + -2.0605672034434974e-05, + -2.6234383767587133e-06, + 2.623866521389573e-06 + ], + [ + -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": [ + [ + 0.05334033817052841, + -0.001905518933199346, + -0.027687059715390205, + -0.27285492420196533, + 0.6553233861923218, + 0.6437380909919739, + -0.2858368456363678 + ], + [ + 0.048646919429302216, + 0.002109092427417636, + -0.028556425124406815, + -0.2860580384731293, + 0.6392267346382141, + 0.6547438502311707, + -0.28437724709510803 + ], + [ + 0.05154750496149063, + 0.0032706246711313725, + -0.029501033946871758, + -0.276204377412796, + 0.6526191830635071, + 0.6414259672164917, + -0.29389122128486633 + ], + [ + 0.05079207941889763, + -0.0014734994620084763, + -0.02859729714691639, + -0.28534865379333496, + 0.6466824412345886, + 0.6515669822692871, + -0.27538788318634033 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e003/wrist.mp4 b/episodes/c6_p000_e003/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..93d06d6ccce2132f8bbf4af7f0936d905dd9a58e --- /dev/null +++ b/episodes/c6_p000_e003/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af10644da5870825ddf69f9d7340c84469596393865e7485fda47910e5848344 +size 7914193 diff --git a/episodes/c6_p000_e004/data.npz b/episodes/c6_p000_e004/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..b31ab122bed2a4fa1bdbe4e81f54debfbdc985a6 --- /dev/null +++ b/episodes/c6_p000_e004/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1dc989d5dad43deb6535a334111f99b943665c5707b277e270335b39dc92d44d +size 191422 diff --git a/episodes/c6_p000_e004/device_events.jsonl b/episodes/c6_p000_e004/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9427574cdf480b0a1c02231dc6551b0fa023aa91 --- /dev/null +++ b/episodes/c6_p000_e004/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 165, "t": 0.825, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 165, "t": 0.825, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 170, "t": 0.85, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1716, "t": 8.58, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6394, "t": 31.97, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 7000, "t": 35.0, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7000, "t": 35.0, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.9286019154190317}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 7000, "t": 35.0, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 9, "step": 7000, "t": 35.0, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 10, "step": 7000, "t": 35.0, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 11, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 12, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 7419, "t": 37.095, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 18, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 19, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.9286019154190317}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 8005, "t": 40.025, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 21, "step": 8005, "t": 40.025, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.930000000001499}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8005, "t": 40.025, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.930000000001499}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 8005, "t": 40.025, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 24, "step": 8005, "t": 40.025, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 25, "step": 8005, "t": 40.025, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 26, "step": 8425, "t": 42.125, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 27, "step": 8425, "t": 42.125, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.0020952951060877e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8425, "t": 42.125, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.0020952951060877e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8425, "t": 42.125, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 8425, "t": 42.125, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8425, "t": 42.125, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 9007, "t": 45.035, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 33, "step": 10732, "t": 53.66, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 10732, "t": 53.66, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 10732, "t": 53.66, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 10732, "t": 53.66, "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_p000_e004/env.mp4 b/episodes/c6_p000_e004/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4a46606df9326c087b2a69610102d1fee9f3f7d8 --- /dev/null +++ b/episodes/c6_p000_e004/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f6211255fdc835c35e52078ce957f8b12c7b33711f430fed44a05081955c89b +size 1220679 diff --git a/episodes/c6_p000_e004/meta.json b/episodes/c6_p000_e004/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..beb33cf4c8415ac6f8076a1b27db5d2595e6e6d6 --- /dev/null +++ b/episodes/c6_p000_e004/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/4", + "fps": 25, + "frames": 1212, + "kept_ticks": "even", + "video_frames": { + "wrist": 1212, + "env": 1212 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e004/scene_snapshot.json b/episodes/c6_p000_e004/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..3ed4f7db3b8c1e5aeff05be833ae968fdfa7f773 --- /dev/null +++ b/episodes/c6_p000_e004/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 4, + "env_id": 0, + "run_id": "c6_p000", + "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_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": [ + 0.4785776138305664, + 0.06960201263427734, + 0.8999999761581421 + ], + "ori": [ + -0.706503689289093, + 0.0, + 0.0, + 0.7077093720436096 + ], + "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": 0.24104070953644285, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2202501051651774, + "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": 0.24104070953644285, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6375141143798828, + 0.9959774017333984, + 0.8999999761581421 + ], + "ori": [ + 0.47493332624435425, + -4.09668743373004e-09, + 7.427312098684524e-09, + 0.8800218105316162 + ], + "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": [ + -4.218091476104746e-08, + -2.300720325365546e-08, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.1932024790439755e-06, + -1.8128398551198188e-06, + 2.792585576116835e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.07007789611816406, + 0.44730186462402344, + 0.8999999761581421 + ], + "ori": [ + 0.9999449253082275, + 1.1725987958399742e-09, + -9.892478836093233e-09, + 0.010494612157344818 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.472089282752222e-10, + -2.5534430125873087e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 2.6407772679704067e-07, + -1.390599493333866e-07, + 2.134461496439144e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1315059661865234, + 1.1368722915649414, + 0.8999999761581421 + ], + "ori": [ + -0.11149628460407257, + 1.071030819588259e-08, + 3.815545923657737e-08, + 0.9937649369239807 + ], + "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": [ + 2.5871849107517164e-10, + 6.23900930918353e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -5.254342383409494e-08, + 2.8530646289937067e-08, + 1.324098608534996e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.7268381118774414, + 1.1524925231933594, + 0.8999999761581421 + ], + "ori": [ + -0.011135779321193695, + -4.806546272106971e-10, + 2.9865146466967474e-10, + 0.9999380111694336 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.257546067279236e-09, + -8.371437987264585e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 3.369073198200567e-08, + -1.1792338483473941e-07, + -1.495162038622766e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.6325807571411133, + 0.9987039566040039, + 0.9180000424385071 + ], + "ori": [ + 0.4064681828022003, + -2.61858446037877e-08, + 2.0406832845765166e-07, + 0.9136649966239929 + ], + "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": [ + -1.001698365143966e-06, + -7.298053787962999e-06, + -6.0051679611206055e-06 + ], + "angular_velocity": [ + -1.3847718946635723e-05, + -1.2760974641423672e-05, + 5.639306618832052e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -0.059189796447753906, + 0.44612693786621094, + 0.9180000424385071 + ], + "ori": [ + 0.9955110549926758, + 3.875855192347899e-09, + -1.0057621402381756e-08, + -0.09464523941278458 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.716544322822756e-08, + -3.561084582770491e-08, + -5.591660737991333e-06 + ], + "angular_velocity": [ + 9.756410008776584e-07, + -2.9426405490085017e-06, + 2.2309880165494178e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.1275529861450195, + 1.1440162658691406, + 0.9180000424385071 + ], + "ori": [ + -0.09394054114818573, + 1.0282280804574384e-08, + 3.717154228866093e-08, + 0.9955778121948242 + ], + "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": [ + 5.429451732652524e-08, + 1.3062170012290153e-08, + -5.971640348434448e-06 + ], + "angular_velocity": [ + -1.0448100056237308e-06, + 1.9859949134115595e-06, + 3.8960445181146497e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.7397823333740234, + 1.1496553421020508, + 0.9179999828338623 + ], + "ori": [ + 0.07866761833429337, + -4.5194842313023287e-10, + 1.0347301904189976e-09, + 0.9969009160995483 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4111368962232973e-08, + 8.085173419658531e-09, + -1.30385160446167e-06 + ], + "angular_velocity": [ + -9.074805120690144e-07, + 1.3534273648474482e-06, + -3.953858751515327e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 5.3799999999999075, + "step": 1076, + "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": 0.24104070953644285, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 910, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.4875141084194183, + 0.5459774136543274, + 0.0 + ], + "carrier_2": [ + -0.22007790207862854, + -0.0026981234550476074, + 0.0 + ], + "carrier_3": [ + -1.281505972146988, + 0.6868723034858704, + 0.0 + ], + "carrier_4": [ + 0.5768381059169769, + 0.7024925351142883, + 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": [ + -0.1172082568759445, + -0.3423548809181153, + 3.0740183107838277 + ], + "ori": [ + 4.402411274353248, + 4.10077191753669, + -13.531964902644127 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6892.116650893458, + "color": [ + 0.9896276111855669, + 0.9717016655701086, + 0.9202783888386232 + ], + "intensity": 12026.178309131377, + "width": 2.5976460966127153, + "height": 1.0282050470915591 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.49991322781460434, + -0.7561983339848749, + 2.0107601921728797 + ], + "ori": [ + 33.65512628375036, + 25.130399571583936, + -6.606044939651561 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6231.302074031362, + "color": [ + 0.8813355495559173, + 0.7561181436152844, + 0.8898920728595662 + ], + "intensity": 10105.893630416507, + "radius": 0.39233314045145773 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 562.439854874685, + "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": [ + [ + 0.9141108989715576, + -1.7193957567214966, + 2.0904979705810547, + -1.9419007301330566, + -1.5707999467849731, + 2.4849040508270264, + 0.01799999363720417, + 0.018000004813075066 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -2.3518196716339196e-38, + 1.9756203596686505e-38, + -1.289673270734245e-38, + 5.787746501336842e-37, + -5.8215480623739e-37, + 3.01140752930646e-36, + 7.7971137102395e-08, + -7.797118684038651e-08 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05213997885584831, + 5.17295666213613e-05, + -0.02739769034087658, + -0.2670097053050995, + 0.6539633274078369, + 0.6478226780891418, + -0.28524288535118103 + ], + [ + 0.045595258474349976, + -0.0004187571757938713, + -0.02837255969643593, + -0.2833068072795868, + 0.6430485248565674, + 0.6530612707138062, + -0.28237706422805786 + ], + [ + 0.05053919553756714, + 0.0005581960431300104, + -0.029058106243610382, + -0.28078994154930115, + 0.6543829441070557, + 0.636837899684906, + -0.2955968976020813 + ], + [ + 0.04896875098347664, + -0.003331297542899847, + -0.02735227346420288, + -0.28034740686416626, + 0.6467469334602356, + 0.6542801260948181, + -0.27393659949302673 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e004/wrist.mp4 b/episodes/c6_p000_e004/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dd4d90a22d64ccb6bbc6962ca75c36e48efd486a --- /dev/null +++ b/episodes/c6_p000_e004/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b25c432010c5ac62f03e7d166a32fa7b33426814026104d96bdbdaa6b49934a +size 7202739 diff --git a/episodes/c6_p000_e005/data.npz b/episodes/c6_p000_e005/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..ef6d84c3d516bd6f0cc79c75c47287dd8a776b89 --- /dev/null +++ b/episodes/c6_p000_e005/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b6181a4b2f57fb322f6656dc70229d01c95e22275cb37928b96f2f21cea49f3 +size 190659 diff --git a/episodes/c6_p000_e005/device_events.jsonl b/episodes/c6_p000_e005/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a3d06903f61ec785f6a855ba3cae0d1da1fa2629 --- /dev/null +++ b/episodes/c6_p000_e005/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 68, "t": 0.34, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 68, "t": 0.34, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 73, "t": 0.365, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1157, "t": 5.785, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6191, "t": 30.955, "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": 6800, "t": 34.0, "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": 6800, "t": 34.0, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.3146875845116868}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6800, "t": 34.0, "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": 6800, "t": 34.0, "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": 6800, "t": 34.0, "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": 7219, "t": 36.095, "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": 7219, "t": 36.095, "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": 7219, "t": 36.095, "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": 7219, "t": 36.095, "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": 7219, "t": 36.095, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7219, "t": 36.095, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7219, "t": 36.095, "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": 7219, "t": 36.095, "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": 7219, "t": 36.095, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.3146875845116868}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 7682, "t": 38.41, "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": 7682, "t": 38.41, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.3150000000011843}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7682, "t": 38.41, "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": 2.3150000000011843}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7682, "t": 38.41, "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": 7682, "t": 38.41, "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": 7682, "t": 38.41, "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": 8102, "t": 40.51, "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": 8102, "t": 40.51, "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": 8102, "t": 40.51, "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": 8102, "t": 40.51, "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": 8102, "t": 40.51, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8102, "t": 40.51, "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": 8683, "t": 43.415, "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": 10456, "t": 52.28, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10456, "t": 52.28, "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": 10456, "t": 52.28, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10456, "t": 52.28, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c6_p000_e005/env.mp4 b/episodes/c6_p000_e005/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0868f8c607cab74c6c54c7df7aef22b12b4db712 --- /dev/null +++ b/episodes/c6_p000_e005/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a90092febd6f3cbb0894123cfd077cef06fb7b11e0f10d553eaf86f134e770f1 +size 1287913 diff --git a/episodes/c6_p000_e005/meta.json b/episodes/c6_p000_e005/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4e1e06da2052c44373fcf42080688f13a8691e57 --- /dev/null +++ b/episodes/c6_p000_e005/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/5", + "fps": 25, + "frames": 1220, + "kept_ticks": "even", + "video_frames": { + "wrist": 1220, + "env": 1220 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e005/scene_snapshot.json b/episodes/c6_p000_e005/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..1cf6d5a5c805f5fba1c36c70949fc891085b5942 --- /dev/null +++ b/episodes/c6_p000_e005/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 5, + "env_id": 2, + "run_id": "c6_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46108436584472656, + 0.05295372009277344, + 0.8999999761581421 + ], + "ori": [ + 0.7118666768074036, + 0.0, + 0.0, + -0.7023146152496338 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.728330999988819e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.28919758668352813, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2396531646196296, + "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": 0.28919758668352813, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.08904647827148438, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.0461995714194927e-09, + -2.872490023619889e-09, + 3.1949140975484625e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.1274016709659236e-10, + 4.953205845481534e-09, + 0.0 + ], + "angular_velocity": [ + -1.2782696501290047e-07, + 8.057448042109172e-09, + 3.1569609149073585e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1758460998535156, + 1.1230316162109375, + 0.8999999761581421 + ], + "ori": [ + -0.1758037805557251, + -1.2002820426459948e-07, + -1.197163346233765e-08, + 0.9844252467155457 + ], + "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": [ + -3.23035020954876e-09, + -6.595660684283189e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 4.955644783422031e-08, + -2.1902849312027683e-07, + 3.0528757299919107e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5359029769897461, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + 1.2522579595497518e-07, + -8.69628991040372e-09, + -1.0115253079590047e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.310480778395686e-10, + 6.545375352828842e-11, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.3155599276615249e-08, + -1.421841844262417e-08, + -8.034064080675307e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.695169448852539, + 0.8504219055175781, + 0.8999999761581421 + ], + "ori": [ + 0.6554540395736694, + 8.283041807999325e-08, + -9.996366401310297e-09, + 0.7552351951599121 + ], + "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": [ + -3.4990839026249887e-07, + -5.342906206351472e-08, + 1.1175870895385742e-07 + ], + "angular_velocity": [ + -1.4750629588888842e-06, + -7.491097221645759e-06, + -3.916038167517399e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -0.08173370361328125, + 0.45833587646484375, + 0.9179999828338623 + ], + "ori": [ + 0.9997326731681824, + 1.1363244789563964e-09, + -3.4644584978593684e-09, + 0.023124832659959793 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.869220594448052e-08, + 9.391014632598171e-10, + 7.82310962677002e-08 + ], + "angular_velocity": [ + 5.995020728732925e-07, + -1.567847675687517e-06, + 1.876695137070783e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.1722393035888672, + 1.1148490905761719, + 0.9180000424385071 + ], + "ori": [ + -0.09843365848064423, + -1.1790696419211599e-07, + -2.1915463221944265e-08, + 0.9951436519622803 + ], + "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": [ + 1.0016106166688132e-08, + 3.5369403406093625e-08, + -5.3979456424713135e-06 + ], + "angular_velocity": [ + -1.4694981018692488e-06, + 1.0761207249743165e-06, + 2.0452556981354064e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.5253801345825195, + 1.143345832824707, + 0.9180000424385071 + ], + "ori": [ + -0.09464224427938461, + -8.010548668835327e-09, + 3.8880532127194556e-10, + 0.9955113530158997 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4688682270502795e-08, + -5.581023199141555e-09, + -5.591660737991333e-06 + ], + "angular_velocity": [ + -7.17363604962884e-07, + 1.3761500667897053e-06, + 8.382968275100211e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.6893730163574219, + 0.8406524658203125, + 0.9179999828338623 + ], + "ori": [ + 0.6559537053108215, + 9.66432139648532e-07, + 1.074606302609027e-06, + 0.7548011541366577 + ], + "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": [ + -1.868939580162987e-05, + 1.6387186860811198e-06, + -1.169741153717041e-05 + ], + "angular_velocity": [ + 5.790603609057143e-05, + -0.0005319897900335491, + 2.7310432415106334e-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": 3.6399999999999446, + "step": 728, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.728330999988819e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.28919758668352813, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 659, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.23904648423194885, + 2.682209014892578e-06, + 0.0 + ], + "carrier_2": [ + -1.32584610581398, + 0.6730316281318665, + 0.0 + ], + "carrier_3": [ + 0.3859029710292816, + 0.6999996304512024, + 0.0 + ], + "carrier_4": [ + 1.5451694428920746, + 0.4004219174385071, + 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": [ + -0.5713510052145037, + -0.21645033635969801, + 2.916785941019696 + ], + "ori": [ + -10.198434218698653, + -8.60031144163599, + 2.552794711843248 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5549.860739306507, + "color": [ + 0.9243173786997769, + 0.8118728026545815, + 0.8425067895407672 + ], + "intensity": 8671.720660263356, + "width": 2.549958470928542, + "height": 0.9588610696088018 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.2729762571578482, + -0.8294924995620967, + 2.385238851039251 + ], + "ori": [ + 22.833848800932515, + 7.3525276774049, + -0.1622156354819566 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3852.394570646754, + "color": [ + 0.8278165797469953, + 0.9672117120405759, + 0.7658384001419587 + ], + "intensity": 9598.950300074415, + "radius": 0.1045361093900217 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 562.439854874685, + "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": [ + [ + 1.0680330991744995, + -1.596687912940979, + 2.225956439971924, + -2.2000293731689453, + -1.5707966089248657, + 2.8273770809173584, + 0.018000047653913498, + 0.017999950796365738 + ], + [ + 0.91410231590271, + -1.719398021697998, + 2.0904994010925293, + -1.9419004917144775, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 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": [ + [ + -6.885536276968196e-05, + 0.012224437668919563, + 0.009882104583084583, + -0.021096620708703995, + -6.922533430042677e-06, + 8.144943421939388e-05, + -4.953457391820848e-06, + 4.954895302944351e-06 + ], + [ + 0.0, + -1.7730060541925395e-38, + 1.5885169838330842e-38, + -5.742237708201675e-37, + 2.437308687046984e-38, + -4.05578240524265e-37, + 2.5990388508034812e-08, + -2.5990388508034812e-08 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05122004449367523, + -0.0004679919220507145, + -0.0287010557949543, + -0.26418113708496094, + 0.6576656699180603, + 0.6446408033370972, + -0.28657007217407227 + ], + [ + 0.04681379720568657, + 0.0011899434030056, + -0.030769456177949905, + -0.28586408495903015, + 0.6457759141921997, + 0.6480604410171509, + -0.2850838899612427 + ], + [ + 0.04876372590661049, + 0.0011661320459097624, + -0.028585566207766533, + -0.2735063135623932, + 0.6550015807151794, + 0.637269914150238, + -0.3000905513763428 + ], + [ + 0.05083591118454933, + -0.0006091799587011337, + -0.02917368896305561, + -0.28420791029930115, + 0.6464803218841553, + 0.6518217325210571, + -0.2764371633529663 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e005/wrist.mp4 b/episodes/c6_p000_e005/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..445383737a941ce811debb9cbc733ee8124d5979 --- /dev/null +++ b/episodes/c6_p000_e005/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b293f429234fabdd6a95327d4d7ca3488516a648fd70dd56c6aaa557d47c7f3 +size 7187273 diff --git a/episodes/c6_p000_e006/data.npz b/episodes/c6_p000_e006/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..de22828d2dd9a490074affa4371248d6bca0c6e6 --- /dev/null +++ b/episodes/c6_p000_e006/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6439f68aaf1c4dd867acad914b2b5f7e801bc1a70ce6b1dae0d90077347b84be +size 190930 diff --git a/episodes/c6_p000_e006/device_events.jsonl b/episodes/c6_p000_e006/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c3d2a885b0ac969748e11034c877af5c4e3c95fb --- /dev/null +++ b/episodes/c6_p000_e006/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 3, "seq": 1, "step": 47, "t": 0.235, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 47, "t": 0.235, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 52, "t": 0.26, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1586, "t": 7.93, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 1768, "t": 8.84, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 6530, "t": 32.65, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 7140, "t": 35.7, "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": 8, "step": 7140, "t": 35.7, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.001200387613795}, "cause": "task-3-1"} +{"env_id": 3, "seq": 9, "step": 7140, "t": 35.7, "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": 10, "step": 7140, "t": 35.7, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7140, "t": 35.7, "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": 12, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 13, "step": 7559, "t": 37.795, "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": 14, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 7559, "t": 37.795, "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": 16, "step": 7559, "t": 37.795, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 18, "step": 7559, "t": 37.795, "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": 19, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.001200387613795}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8160, "t": 40.8, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 22, "step": 8160, "t": 40.8, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.0050000000015373}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 8160, "t": 40.8, "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": 3.0050000000015373}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 24, "step": 8160, "t": 40.8, "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": 25, "step": 8160, "t": 40.8, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8160, "t": 40.8, "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": 27, "step": 8580, "t": 42.9, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 28, "step": 8580, "t": 42.9, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.1461080084984587e-08}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8580, "t": 42.9, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.1461080084984587e-08}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 8580, "t": 42.9, "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": 31, "step": 8580, "t": 42.9, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 32, "step": 8580, "t": 42.9, "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": 33, "step": 9159, "t": 45.795, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 34, "step": 10892, "t": 54.46, "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": 35, "step": 10892, "t": 54.46, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 36, "step": 10892, "t": 54.46, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 37, "step": 10892, "t": 54.46, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c6_p000_e006/env.mp4 b/episodes/c6_p000_e006/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9b0fe543c9c467c956514dbee59b1c242cbc6a2c --- /dev/null +++ b/episodes/c6_p000_e006/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce84a732415adb3863e73152172f8b316c657c17e194632fb1ccc8a97290f559 +size 1197507 diff --git a/episodes/c6_p000_e006/meta.json b/episodes/c6_p000_e006/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b0f09ebb0e79cb9cc8f6c1fd19a50d1e00914545 --- /dev/null +++ b/episodes/c6_p000_e006/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/6", + "fps": 25, + "frames": 1230, + "kept_ticks": "even", + "video_frames": { + "wrist": 1230, + "env": 1230 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e006/scene_snapshot.json b/episodes/c6_p000_e006/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..b51a5958970ad4b4a3c64cce2fbdd3f5da7a1c2d --- /dev/null +++ b/episodes/c6_p000_e006/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 6, + "env_id": 3, + "run_id": "c6_p000", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 0.5043811798095703, + 0.1029367446899414, + 0.8999999761581421 + ], + "ori": [ + -0.6904402375221252, + 0.0, + 0.0, + 0.7233894467353821 + ], + "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": [ + 2.018500384198818e-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": 0.2566460006249343, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2907438958906503, + "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": 0.2566460006249343, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3947534561157227, + 0.8546113967895508, + 0.8999999761581421 + ], + "ori": [ + -0.6469913721084595, + -4.293339017635844e-09, + 1.4179651230961099e-08, + 0.7624974250793457 + ], + "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": [ + 5.342391773410782e-08, + -9.353755103802541e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 4.155069177613768e-09, + 1.3150549875717843e-06, + 6.058974690859031e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6720647811889648, + 0.9344577789306641, + 0.8999999761581421 + ], + "ori": [ + 0.55629563331604, + 1.9818196861365323e-08, + -2.2207283123520938e-08, + 0.8309844732284546 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.234021325355002e-10, + 6.32333074790381e-11, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -8.033270049168095e-09, + -7.227403386877995e-08, + -6.617493220062443e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.600255012512207, + 1.1500024795532227, + 0.8999999761581421 + ], + "ori": [ + 3.0946450806368375e-06, + -1.1843881431161662e-10, + 1.5478314185912723e-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": [ + -7.190308348725694e-10, + -1.638568170037047e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 3.731447151267275e-09, + -7.410920943584642e-08, + -4.7264472335939445e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.1411571502685547, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.2559489004360103e-09, + -3.222680178271986e-10, + -3.453325552982278e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.7186545520075924e-09, + 6.837019839167624e-11, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 8.526939154762658e-09, + 1.662852895378819e-07, + -7.42430295019858e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -1.390329360961914, + 0.8596115112304688, + 0.9179999828338623 + ], + "ori": [ + -0.6529176235198975, + -1.7110397720898618e-07, + 3.6773045053450915e-07, + 0.7574290037155151 + ], + "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": [ + 4.8720753511588555e-06, + -2.6308844098821282e-06, + -1.115351915359497e-05 + ], + "angular_velocity": [ + 6.331892654998228e-05, + 0.00032302376348525286, + 8.393330062972382e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 1.6774797439575195, + 0.9287824630737305, + 0.9180000424385071 + ], + "ori": [ + 0.5776452422142029, + 1.5705383660247207e-08, + -2.9197385842394397e-08, + 0.8162879943847656 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.910330998417976e-08, + 1.5790394769510385e-08, + -5.2228569984436035e-06 + ], + "angular_velocity": [ + -8.250452765423688e-09, + 5.814746145915706e-06, + -7.580089089742614e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.5879955291748047, + 1.1396312713623047, + 0.9180000424385071 + ], + "ori": [ + 0.05056596174836159, + -3.147750671228522e-10, + 3.0980036314076642e-09, + 0.9987208247184753 + ], + "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": [ + 7.478757169110395e-09, + -2.9043467630884834e-10, + -4.820525646209717e-06 + ], + "angular_velocity": [ + -6.794761020501028e-07, + 1.5974637790350243e-06, + -1.3635940376843791e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -0.1448211669921875, + 0.4539918899536133, + 0.9179999828338623 + ], + "ori": [ + 0.9980844259262085, + 3.0994593558375527e-09, + -4.8465818025533736e-09, + -0.061867810785770416 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.9444702676073575e-08, + -1.1531671617603934e-08, + -9.685754776000977e-07 + ], + "angular_velocity": [ + 9.37350478125154e-07, + -1.7566989072292927e-06, + -2.8919250993908463e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 5.439999999999906, + "step": 1088, + "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": 2.018500384198818e-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": 0.2566460006249343, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1040, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5447534620761871, + 0.40461140871047974, + 0.0 + ], + "carrier_2": [ + 1.5220647752285004, + 0.484457790851593, + 0.0 + ], + "carrier_3": [ + 0.45025500655174255, + 0.7000024914741516, + 0.0 + ], + "carrier_4": [ + -0.29115715622901917, + 1.7285346984863281e-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": [ + -0.3163918782700297, + -0.17214218733421022, + 2.7137601128139854 + ], + "ori": [ + -6.476463598992581, + 2.848012268706764, + -19.965152762792854 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4670.0739710491835, + "color": [ + 0.9134666432044838, + 0.9642066251860937, + 0.9323497926185493 + ], + "intensity": 15262.471309152803, + "width": 2.1231608553207155, + "height": 1.8534354065043699 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.3365176374280199, + -0.2982527444214672, + 2.0835622271845184 + ], + "ori": [ + 29.913683435704456, + -9.803901347642299, + 36.68139980345531 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4101.750472246023, + "color": [ + 0.9624339786335288, + 0.9727934491969528, + 0.9065762694732089 + ], + "intensity": 4868.702400947768, + "radius": 0.35513281193981994 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 562.439854874685, + "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": [ + [ + 1.068367600440979, + -1.5059326887130737, + 2.2861273288726807, + -2.3509490489959717, + -1.5707966089248657, + 2.8281242847442627, + 0.018000047653913498, + 0.017999950796365738 + ], + [ + 0.91410231590271, + -1.719398021697998, + 2.0904994010925293, + -1.9419004917144775, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.0378564596176147, + -1.6143028736114502, + 2.099663496017456, + -2.056101083755493, + -1.5707956552505493, + 2.5851504802703857, + 0.01800226978957653, + 0.017997736111283302 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -7.882306817919016e-05, + 0.01760113053023815, + 0.009416330605745316, + -0.025868214666843414, + -8.259519745479338e-06, + 0.00014260417083278298, + -7.142697086237604e-06, + 7.144309620343847e-06 + ], + [ + 0.0, + -1.7730060541925395e-38, + 1.5885169838330842e-38, + -5.742237708201675e-37, + 2.437308687046984e-38, + -4.05578240524265e-37, + 2.5990388508034812e-08, + -2.5990388508034812e-08 + ], + [ + 0.040486883372068405, + 0.03507848456501961, + 0.0035711529199033976, + -0.03670961409807205, + 7.716774416621774e-05, + 0.03232907876372337, + 6.780499825254083e-05, + -6.78405849612318e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.050898291170597076, + -0.00029152195202186704, + -0.030398240312933922, + -0.2695921063423157, + 0.6542372107505798, + 0.6479014754295349, + -0.2819884121417999 + ], + [ + 0.046989765018224716, + 0.0017833418678492308, + -0.028531858697533607, + -0.28333938121795654, + 0.6440231800079346, + 0.6535516977310181, + -0.278967946767807 + ], + [ + 0.04804473742842674, + 0.0008351028664037585, + -0.02859364077448845, + -0.27551865577697754, + 0.6583819389343262, + 0.6378188133239746, + -0.2894994020462036 + ], + [ + 0.05015191435813904, + -0.0007203712011687458, + -0.028403664007782936, + -0.2812974452972412, + 0.650697648525238, + 0.6504661440849304, + -0.27268683910369873 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e006/wrist.mp4 b/episodes/c6_p000_e006/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6de1329f9f8baaacf01a55c3e6c3ef81b1fe0dcc --- /dev/null +++ b/episodes/c6_p000_e006/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5fde0b6bd1c12cad834e4cf8bbe392a538ec05fa1914c327a2d357c1868188bc +size 6732568 diff --git a/episodes/c6_p000_e007/data.npz b/episodes/c6_p000_e007/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..9c65a591dd7c8466af05d77e05d91283a2c5b51e --- /dev/null +++ b/episodes/c6_p000_e007/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce41fe4ac0584181bdb1098b82bc1234de69c7d14072e80c03bdefde699227fa +size 188070 diff --git a/episodes/c6_p000_e007/device_events.jsonl b/episodes/c6_p000_e007/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ea66487fc2306cfb2765c46801513449500ddcc --- /dev/null +++ b/episodes/c6_p000_e007/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 117, "t": 0.585, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 117, "t": 0.585, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 122, "t": 0.61, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6601, "t": 33.005, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7216, "t": 36.08, "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": 7216, "t": 36.08, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.099586110701418}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7216, "t": 36.08, "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": 7216, "t": 36.08, "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": 7216, "t": 36.08, "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": 7635, "t": 38.175, "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": 7635, "t": 38.175, "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": 7635, "t": 38.175, "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": 7635, "t": 38.175, "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": 7635, "t": 38.175, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7635, "t": 38.175, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7635, "t": 38.175, "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": 7635, "t": 38.175, "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": 7635, "t": 38.175, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.099586110701418}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8455, "t": 42.275, "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": 8455, "t": 42.275, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.1000000000020975}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8455, "t": 42.275, "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": 4.1000000000020975}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8455, "t": 42.275, "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": 8455, "t": 42.275, "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": 8455, "t": 42.275, "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": 8875, "t": 44.375, "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": 8875, "t": 44.375, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.1569182204195236e-11}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8875, "t": 44.375, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.1569182204195236e-11}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8875, "t": 44.375, "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": 8875, "t": 44.375, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8875, "t": 44.375, "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": 9451, "t": 47.255, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 11188, "t": 55.94, "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": 11188, "t": 55.94, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11188, "t": 55.94, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11188, "t": 55.94, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c6_p000_e007/env.mp4 b/episodes/c6_p000_e007/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3217cce5a213f185c2bf4e353173a371e54eb6e9 --- /dev/null +++ b/episodes/c6_p000_e007/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9596ee42cb97698f27dda20d685dd55969b6731ff41c507ba0ffab0d46d1cf1b +size 1284666 diff --git a/episodes/c6_p000_e007/meta.json b/episodes/c6_p000_e007/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5185ac5eec162616a2098d1bfa659cddc1e51d66 --- /dev/null +++ b/episodes/c6_p000_e007/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/7", + "fps": 25, + "frames": 1208, + "kept_ticks": "even", + "video_frames": { + "wrist": 1208, + "env": 1208 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e007/scene_snapshot.json b/episodes/c6_p000_e007/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..096575a79c14ba73129d736a111060ea9e867677 --- /dev/null +++ b/episodes/c6_p000_e007/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 7, + "env_id": 1, + "run_id": "c6_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5073986053466797, + 0.06928730010986328, + 0.8999999761581421 + ], + "ori": [ + -0.6957700252532959, + 0.0, + 0.0, + 0.718264639377594 + ], + "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": [ + 1.34566674209885e-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": 0.242885779680157, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.22449188578353985, + "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": 0.242885779680157, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.240896224975586, + 0.4499959945678711, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.9247294869018106e-09, + 4.065982217582587e-09, + -1.4599608221033122e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4268222159330435e-09, + 1.7480088487786816e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -4.835068523334485e-08, + 1.2196862542168674e-07, + -3.249617819278683e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4550743103027344, + 1.1527185440063477, + 0.8999999761581421 + ], + "ori": [ + -0.007935578934848309, + 4.3224620327464436e-08, + -2.008012067733489e-08, + 0.9999685287475586 + ], + "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": [ + 1.0248181192551442e-09, + 6.295553856006109e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.3778854085776402e-07, + 8.03478599209484e-08, + -2.191793946337839e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.07451057434082031, + 0.44781017303466797, + 0.8999999761581421 + ], + "ori": [ + 0.999904453754425, + 3.0379154747350867e-09, + -3.922531743860702e-10, + 0.01382941473275423 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.387468249296035e-10, + 1.637573965318495e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 4.369884720745176e-08, + -2.6356756777090595e-08, + 1.0848999032475604e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.9618520736694336, + 1.1500368118286133, + 0.8999999761581421 + ], + "ori": [ + 0.000901535153388977, + -1.0261249627774305e-07, + -2.2004142508080804e-08, + 0.9999996423721313 + ], + "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": [ + 1.6837902183652886e-09, + 8.229985581920118e-09, + -7.450580596923828e-09 + ], + "angular_velocity": [ + -2.8155221798442653e-07, + 1.6515591028110066e-07, + 3.494862355069017e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 1.2365283966064453, + 0.43897533416748047, + 0.9179999828338623 + ], + "ori": [ + 0.9978271722793579, + -2.189628256488163e-09, + 3.546827720413148e-09, + -0.06588603556156158 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.506250590921354e-08, + 3.0660658012493514e-08, + 1.601874828338623e-07 + ], + "angular_velocity": [ + -7.931773780001095e-07, + -1.7838835901784478e-06, + 1.6344220199471238e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.45562171936035156, + 1.1504545211791992, + 0.9180000424385071 + ], + "ori": [ + -0.10388004779815674, + 4.0311725513220154e-08, + -2.292738443543385e-08, + 0.9945898652076721 + ], + "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": [ + 4.961518129675824e-08, + 6.253532802702466e-08, + -5.230307579040527e-06 + ], + "angular_velocity": [ + -1.4123332903182018e-06, + 1.679626620898489e-06, + 1.287650519543604e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -0.07541751861572266, + 0.4458131790161133, + 0.9179999828338623 + ], + "ori": [ + 0.9994080662727356, + 2.8812654484511313e-09, + -2.427417711281521e-10, + 0.03440466150641441 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.7103262684468064e-08, + 3.9396308437744665e-09, + -5.4836273193359375e-06 + ], + "angular_velocity": [ + 2.9766326292701706e-07, + -1.945493977473234e-06, + 3.118666711543483e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -0.9670209884643555, + 1.139510154724121, + 0.9179999828338623 + ], + "ori": [ + 0.07861916720867157, + -1.0191521937485959e-07, + -2.3229926426893144e-08, + 0.996904730796814 + ], + "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": [ + 8.14312954844354e-08, + 1.301590373259387e-07, + 1.6763806343078613e-07 + ], + "angular_velocity": [ + -3.086667902607587e-06, + 3.7899667404417414e-06, + 6.122557039134335e-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": 7.799999999999856, + "step": 1560, + "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": 1.34566674209885e-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": 0.242885779680157, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1442, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.0908962190151215, + -3.993511199951172e-06, + 0.0 + ], + "carrier_2": [ + 0.3050743043422699, + 0.7027185559272766, + 0.0 + ], + "carrier_3": [ + -0.2245105803012848, + -0.002189815044403076, + 0.0 + ], + "carrier_4": [ + -1.111852079629898, + 0.7000368237495422, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.5670036210377201, + 0.27244407847205476, + 2.6112321593175243 + ], + "ori": [ + -0.30373230966614706, + -8.45684820558092, + 19.4957942235551 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5229.292782785412, + "color": [ + 0.8284760876441049, + 0.9811822983146883, + 0.9852010731719447 + ], + "intensity": 10650.371838744191, + "width": 1.8618616492357982, + "height": 1.828950738451945 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.6337135217851435, + 1.5393330429475698, + 1.6065101928044345 + ], + "ori": [ + -5.100535851519339, + -23.993944736289663, + -12.240337415661628 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3276.999021438609, + "color": [ + 0.8665102080223189, + 0.947466086660746, + 0.9067526960708029 + ], + "intensity": 5380.388277259667, + "radius": 0.15839122652897913 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 562.439854874685, + "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": [ + [ + 1.0714390277862549, + -1.615660548210144, + 2.2124276161193848, + -2.167572498321533, + -1.570791482925415, + 2.8314504623413086, + 0.007612679153680801, + 0.006969615817070007 + ], + [ + 0.914104163646698, + -1.719395399093628, + 2.0904979705810547, + -1.9419001340866089, + -1.5707999467849731, + 2.484901189804077, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.1578373908996582, + -1.5125340223312378, + 2.1083381175994873, + -2.1669013500213623, + -1.5707428455352783, + 2.682565450668335, + 0.007607198785990477, + 0.007113093975931406 + ], + [ + 1.2741185426712036, + -1.5894211530685425, + 2.187518358230591, + -2.1689155101776123, + -1.5707848072052002, + 2.9689149856567383, + 0.007704488933086395, + 0.007208945695310831 + ] + ], + "joint_vel": [ + [ + 0.0058340695686638355, + -0.003579458687454462, + 0.0024498221464455128, + 0.0005921512492932379, + 5.96241261519026e-05, + 0.004897527862340212, + -0.008252441883087158, + 0.0002873642952181399 + ], + [ + 0.0, + -2.6843769442262567e-38, + -1.507143582009742e-38, + -2.3931352752963797e-37, + 2.3826134295952118e-37, + 3.6261149248648484e-37, + -2.6648078111719606e-38, + -3.3272890362824755e-38 + ], + [ + -0.0005856069037690759, + -7.036610440991353e-06, + 0.000582692155148834, + 0.0004141977406106889, + -0.0006271323654800653, + -0.0033126675989478827, + -0.006751313805580139, + 0.00017387515981681645 + ], + [ + 0.00016040974878706038, + -4.652832285501063e-05, + -0.00022768847702536732, + 0.0010178169468417764, + -0.0003295668284408748, + -0.0032415541354566813, + -0.0062097180634737015, + 0.00021174988069105893 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05238546431064606, + 0.0006952433031983674, + -0.02729828469455242, + -0.2685040831565857, + 0.6554908752441406, + 0.6458187103271484, + -0.2848779559135437 + ], + [ + 0.048903483897447586, + 0.000922145030926913, + -0.028960302472114563, + -0.2892361879348755, + 0.6415966153144836, + 0.6521445512771606, + -0.28178662061691284 + ], + [ + 0.05068085342645645, + 0.0004519781214185059, + -0.028229326009750366, + -0.26976022124290466, + 0.6540836095809937, + 0.6432982683181763, + -0.2925259470939636 + ], + [ + 0.048757292330265045, + -0.0029830087441951036, + -0.03068128041923046, + -0.2835869789123535, + 0.6442198753356934, + 0.6541242599487305, + -0.2769126892089844 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e007/wrist.mp4 b/episodes/c6_p000_e007/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4497c51c27ecae17386150eeea421960ed2f358b --- /dev/null +++ b/episodes/c6_p000_e007/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac7bdbf1785cadf68f09fa1b2bac9e00db53b7607087fe3980a7273ac42c2b56 +size 8082757 diff --git a/episodes/c6_p000_e008/data.npz b/episodes/c6_p000_e008/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..a3b41a51440fa4171f3578bf295543d7454c9809 --- /dev/null +++ b/episodes/c6_p000_e008/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:367a0d558699c40bcdc7b3c596f9f47e096e026b255b42bdb8d3e57b494f75ea +size 188522 diff --git a/episodes/c6_p000_e008/device_events.jsonl b/episodes/c6_p000_e008/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..97a1e4001814d120cc7f6e5019473dbec88bff42 --- /dev/null +++ b/episodes/c6_p000_e008/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 37, "t": 0.185, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 37, "t": 0.185, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 42, "t": 0.21, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 5806, "t": 29.03, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6416, "t": 32.08, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 6416, "t": 32.08, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.067217829211103}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6416, "t": 32.08, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 6416, "t": 32.08, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6416, "t": 32.08, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 6835, "t": 34.175, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 6835, "t": 34.175, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 6835, "t": 34.175, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 6835, "t": 34.175, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 6835, "t": 34.175, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 6835, "t": 34.175, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 6835, "t": 34.175, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 6835, "t": 34.175, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 6835, "t": 34.175, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.067217829211103}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7649, "t": 38.245, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7649, "t": 38.245, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.070000000002082}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7649, "t": 38.245, "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": 4.070000000002082}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7649, "t": 38.245, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 7649, "t": 38.245, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7649, "t": 38.245, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8069, "t": 40.345, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8069, "t": 40.345, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.252572266023492e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8069, "t": 40.345, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.252572266023492e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8069, "t": 40.345, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8069, "t": 40.345, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8069, "t": 40.345, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8651, "t": 43.255, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 10396, "t": 51.98, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 10396, "t": 51.98, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10396, "t": 51.98, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 10396, "t": 51.98, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c6_p000_e008/env.mp4 b/episodes/c6_p000_e008/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..962b2b412ec570b5d9c56ee9acfa6582b1f0d82c --- /dev/null +++ b/episodes/c6_p000_e008/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe3ece7aa854c57b6ff3c2fd54395e78d54f237b987bb3a2df0ee7542e06a0b4 +size 1171842 diff --git a/episodes/c6_p000_e008/meta.json b/episodes/c6_p000_e008/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4c0af81eb0ac2933596e7568e6088bb2de46327a --- /dev/null +++ b/episodes/c6_p000_e008/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/8", + "fps": 25, + "frames": 1215, + "kept_ticks": "even", + "video_frames": { + "wrist": 1215, + "env": 1215 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e008/scene_snapshot.json b/episodes/c6_p000_e008/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..8890e27bc374c4b58b8547ce4cb670e3d466060b --- /dev/null +++ b/episodes/c6_p000_e008/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 8, + "env_id": 3, + "run_id": "c6_p000", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 0.5043811798095703, + 0.1029367446899414, + 0.8999999761581421 + ], + "ori": [ + -0.6904402375221252, + 0.0, + 0.0, + 0.7233894467353821 + ], + "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": 0.27082446593718346, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2093550068696196, + "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": 0.27082446593718346, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3912944793701172, + 0.7268972396850586, + 0.8999999761581421 + ], + "ori": [ + -0.7754970788955688, + 9.977195247756754e-08, + 4.087981508860139e-08, + 0.6313511729240417 + ], + "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": [ + -1.5205885439684153e-09, + 1.5400641872886922e-10, + 0.0 + ], + "angular_velocity": [ + 4.7986397078148e-09, + -3.142636018083067e-08, + -1.537859617428694e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.13042736053466797, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + 3.409364217077382e-05, + 1.5944273679124876e-11, + -6.2688592095128115e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.971091481844383e-10, + -2.033403889711849e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 7.176981142720251e-08, + 7.138998370237459e-08, + 8.55350101858221e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.058768272399902344, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.421702115564585e-09, + -4.141576859240104e-09, + 7.4845725066552404e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.615272443051708e-10, + 8.803726636585907e-10, + 0.0 + ], + "angular_velocity": [ + -2.5297808292634727e-10, + 1.667566884577809e-08, + 7.349022723701637e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.698838233947754, + 0.8033113479614258, + 0.8999999761581421 + ], + "ori": [ + 0.7058130502700806, + -1.2793145742762135e-07, + 1.0253306470531243e-07, + 0.708398163318634 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.614701592548954e-09, + 1.7962520360015333e-11, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 2.427259460091591e-08, + 1.0756184565252624e-07, + 5.9870806978779e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -1.3959789276123047, + 0.7328643798828125, + 0.9179999828338623 + ], + "ori": [ + -0.7965931296348572, + 1.2667742055327835e-07, + 1.938178328941831e-08, + 0.6045159697532654 + ], + "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": [ + -2.4734884362942466e-08, + 4.519271001868219e-08, + 1.0058283805847168e-07 + ], + "angular_velocity": [ + -1.546873249935743e-06, + -1.5124979881875333e-06, + 1.1741655647767857e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.1328296661376953, + 1.1564006805419922, + 0.9180000424385071 + ], + "ori": [ + 0.04032500088214874, + 1.529907311947909e-10, + -7.519108891074211e-09, + 0.999186635017395 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.826768247781274e-08, + -2.6682027254310015e-08, + -5.476176738739014e-06 + ], + "angular_velocity": [ + 6.017072564645787e-07, + 1.6200831396417925e-06, + 1.2675269545070478e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -0.07281684875488281, + 0.44612693786621094, + 0.9180000424385071 + ], + "ori": [ + 0.9982159733772278, + 4.107900686278754e-09, + -2.7918862777198683e-09, + -0.05970808491110802 + ], + "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": [ + -8.712694565815582e-09, + 7.09959824263251e-09, + -4.861503839492798e-06 + ], + "angular_velocity": [ + -1.4777998558201944e-07, + -1.0821605656019528e-06, + 3.046450558485958e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.7070560455322266, + 0.7939949035644531, + 0.9179999828338623 + ], + "ori": [ + 0.762397825717926, + -1.401544977852609e-07, + 9.795675737223064e-08, + 0.6471086144447327 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0008950113160608e-07, + -1.4788292901357636e-07, + 1.9371509552001953e-07 + ], + "angular_velocity": [ + 4.518631612882018e-06, + 1.8572250155557413e-06, + -6.439262278945534e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 3.5399999999999467, + "step": 708, + "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": 0.27082446593718346, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 670, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5412944853305817, + 0.27689725160598755, + 0.0 + ], + "carrier_2": [ + -0.01957264542579651, + 0.699998676776886, + 0.0 + ], + "carrier_3": [ + -0.20876827836036682, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_4": [ + 1.5488382279872894, + 0.35331135988235474, + 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": [ + 0.7791149858693575, + 0.1848710893282529, + 2.838181585357317 + ], + "ori": [ + -1.152045045289805, + -8.821835605555133, + 2.7163742464067084 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6799.95548987672, + "color": [ + 0.8480098167440107, + 0.8949580628299161, + 0.7926077521630077 + ], + "intensity": 10694.353791711055, + "width": 2.1875154482105046, + "height": 1.4845818049497037 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.3440606011196079, + 0.8584886058839423, + 2.272703875539362 + ], + "ori": [ + -27.33976302167381, + 3.8708718496899763, + -12.309560556372674 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6004.671518565663, + "color": [ + 0.8284558013666357, + 0.9976007159504925, + 0.8883450882839545 + ], + "intensity": 9332.78427397096, + "radius": 0.4813040809409207 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 572.0284038039094, + "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": [ + [ + 0.9141023755073547, + -1.7193979024887085, + 2.09049916267395, + -1.9419000148773193, + -1.5707999467849731, + 2.484900951385498, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.1300727128982544, + -1.541113018989563, + 2.1262590885162354, + -2.1499762535095215, + -1.5676193237304688, + 2.671794891357422, + 0.017999961972236633, + 0.018000036478042603 + ], + [ + 0.9141027927398682, + -1.7193982601165771, + 2.0904994010925293, + -1.9419007301330566, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141009449958801, + -1.7193976640701294, + 2.09049916267395, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ] + ], + "joint_vel": [ + [ + 3.405965117053711e-06, + 3.4059371500916313e-06, + -9.474711813728387e-12, + -1.3051828498186757e-12, + -3.4059783047268866e-06, + 5.901786221187977e-13, + -4.0364451147842373e-13, + 1.2434899030605573e-13 + ], + [ + 0.00011903647100552917, + -0.013294342905282974, + -0.012359373271465302, + 0.02439853921532631, + 8.506282938469667e-06, + -6.4507516981393564e-06, + 5.5537125263072085e-06, + -5.551945378101664e-06 + ], + [ + 5.108944151288597e-06, + 6.811890671087895e-06, + -6.811956154706422e-06, + -5.1490695794588134e-14, + 2.5439159039388794e-14, + 1.3422369769464093e-12, + -3.1978239500851657e-13, + 3.0349464261170134e-13 + ], + [ + 0.0, + -2.4615399400920885e-38, + -1.6967874689000626e-38, + -3.6136139973165453e-37, + 5.985565899779665e-37, + -2.7013861404043733e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05312234163284302, + 0.0014227633364498615, + -0.02791178598999977, + -0.27204811573028564, + 0.6540536880493164, + 0.6462375521659851, + -0.2838672995567322 + ], + [ + 0.048536498099565506, + -0.0006040512816980481, + -0.026471571996808052, + -0.28923171758651733, + 0.6458513140678406, + 0.6490993499755859, + -0.27908992767333984 + ], + [ + 0.04797375947237015, + 0.00047779190936125815, + -0.0306862760335207, + -0.2793268859386444, + 0.6528578400611877, + 0.6362971663475037, + -0.30146148800849915 + ], + [ + 0.04632425680756569, + -0.0018919556168839335, + -0.029475295916199684, + -0.28285351395606995, + 0.650464653968811, + 0.6489621996879578, + -0.27520468831062317 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e008/wrist.mp4 b/episodes/c6_p000_e008/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..36289059cc223df7fcdd04def0dcbd1ce65a7351 --- /dev/null +++ b/episodes/c6_p000_e008/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9854f41b8e622972f400e6005bfedd900e1035d1b9f597ab131d2bc08c7ab821 +size 7503921 diff --git a/episodes/c6_p000_e009/data.npz b/episodes/c6_p000_e009/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..911777a716e71fae1b2b6db5a9f3d6a723300dac --- /dev/null +++ b/episodes/c6_p000_e009/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53b88c10509954728f0301f7870ac38f727e1df3a651beb6431428977dd7f945 +size 203201 diff --git a/episodes/c6_p000_e009/device_events.jsonl b/episodes/c6_p000_e009/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba8de7550d713bc3372871f355f608bc6a902349 --- /dev/null +++ b/episodes/c6_p000_e009/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 111, "t": 0.555, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 111, "t": 0.555, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 116, "t": 0.58, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 7110, "t": 35.55, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 7724, "t": 38.62, "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": 7724, "t": 38.62, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.185293950863529}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7724, "t": 38.62, "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": 7724, "t": 38.62, "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": 7724, "t": 38.62, "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": 8143, "t": 40.715, "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": 8143, "t": 40.715, "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": 8143, "t": 40.715, "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": 8143, "t": 40.715, "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": 8143, "t": 40.715, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 8143, "t": 40.715, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 8143, "t": 40.715, "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": 8143, "t": 40.715, "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": 8143, "t": 40.715, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.185293950863529}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 8781, "t": 43.905, "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": 8781, "t": 43.905, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.190000000001632}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8781, "t": 43.905, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.190000000001632}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8781, "t": 43.905, "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": 8781, "t": 43.905, "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": 8781, "t": 43.905, "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": 9201, "t": 46.005, "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": 9201, "t": 46.005, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.23847870531813e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 9201, "t": 46.005, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.23847870531813e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 9201, "t": 46.005, "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": 9201, "t": 46.005, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 9201, "t": 46.005, "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": 9777, "t": 48.885, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 12052, "t": 60.26, "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": 12052, "t": 60.26, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 12052, "t": 60.26, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 12052, "t": 60.26, "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_p000_e009/env.mp4 b/episodes/c6_p000_e009/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6a93ce5caaa5cbfcdc12db4e8580e819e36c7636 --- /dev/null +++ b/episodes/c6_p000_e009/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0720e9ef4cec9b2826519ed4462f2e2d2d8f907923e5a89bb8d3f7c58be10be3 +size 1395890 diff --git a/episodes/c6_p000_e009/meta.json b/episodes/c6_p000_e009/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fd2612fb4dde610b071af88d76905ed09e9ff43c --- /dev/null +++ b/episodes/c6_p000_e009/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/9", + "fps": 25, + "frames": 1295, + "kept_ticks": "even", + "video_frames": { + "wrist": 1295, + "env": 1295 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e009/scene_snapshot.json b/episodes/c6_p000_e009/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..24aeabf24d581d49530d587aeb83f42ae7c6ca03 --- /dev/null +++ b/episodes/c6_p000_e009/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 9, + "env_id": 0, + "run_id": "c6_p000", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4785776138305664, + 0.06960201263427734, + 0.8999999761581421 + ], + "ori": [ + -0.706503689289093, + 0.0, + 0.0, + 0.7077093720436096 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.728334252595336e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.20724692736091144, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1794983633890201, + "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": 0.20724692736091144, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.029680252075195312, + 0.4499979019165039, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -3.1348981188727976e-09, + 1.288002593469173e-09, + 1.269735275855055e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0534904060222061e-09, + 1.8433425896802191e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.7615188596664666e-07, + 7.577409633086063e-08, + -8.399948292492354e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3899459838867188, + 0.8703432083129883, + 0.8999999761581421 + ], + "ori": [ + -0.6262229084968567, + -6.938928009958545e-08, + -9.331564854164753e-08, + 0.7796440720558167 + ], + "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": [ + -7.978185578849661e-08, + -8.301292098167323e-09, + 0.0 + ], + "angular_velocity": [ + -6.891566499689361e-07, + -1.4955592178012012e-06, + 1.0694514003262157e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5310850143432617, + 0.5042924880981445, + 0.8999999761581421 + ], + "ori": [ + 0.9643329977989197, + -3.551532046230932e-08, + -1.4835957529157895e-07, + 0.2646920084953308 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.859579240066523e-10, + 3.98706845317065e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -3.5219002825215284e-08, + 1.552541561977705e-08, + -1.8459118678038067e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.37923526763916016, + 1.1500024795532227, + 0.8999999761581421 + ], + "ori": [ + -8.432436970906565e-07, + 4.9379811351002445e-09, + -6.289189169450538e-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": [ + -2.489555228635254e-10, + -2.358686357339934e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 2.065033442022468e-07, + 1.4477926413292153e-08, + -1.110180125607485e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -0.03960227966308594, + 0.4447202682495117, + 0.9179999828338623 + ], + "ori": [ + 0.9989209175109863, + -4.935806874328819e-09, + 2.31274555062555e-09, + -0.046443160623311996 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.446466140781922e-08, + 2.041486979464935e-08, + 1.0058283805847168e-07 + ], + "angular_velocity": [ + -4.6484518634315464e-07, + -1.6067357364590862e-06, + 1.1505854757842826e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -1.3925209045410156, + 0.8820734024047852, + 0.9180000424385071 + ], + "ori": [ + -0.5433762073516846, + 1.1114515530152858e-07, + -3.539286126397201e-07, + 0.8394893407821655 + ], + "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": [ + -6.658578058704734e-06, + 1.324152663073619e-06, + -5.62518835067749e-06 + ], + "angular_velocity": [ + -7.868099783081561e-05, + -0.00018139519670512527, + -3.1174306059256196e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.5300941467285156, + 0.5087795257568359, + 0.9180000424385071 + ], + "ori": [ + 0.9417391419410706, + -4.4823799782989227e-08, + -1.440924535245358e-07, + 0.3363443911075592 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.8819401027012645e-08, + -3.024499761750121e-08, + -5.54695725440979e-06 + ], + "angular_velocity": [ + 1.974535962290247e-06, + 2.1345169898268068e-07, + 2.8821008868362696e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.37689781188964844, + 1.146310806274414, + 0.9179999828338623 + ], + "ori": [ + 0.0664871484041214, + 5.683242321197213e-09, + -6.62588206523651e-10, + 0.9977872967720032 + ], + "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": [ + 6.312623668236483e-08, + -1.0742597922330788e-08, + -1.4156103134155273e-06 + ], + "angular_velocity": [ + -2.2191790094439057e-07, + 2.581581838967395e-06, + 1.2674321681060974e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 8.659999999999954, + "step": 1732, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.728334252595336e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.20724692736091144, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1620, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.1796802580356598, + -2.086162567138672e-06, + 0.0 + ], + "carrier_2": [ + -1.5399459898471832, + 0.42034322023391724, + 0.0 + ], + "carrier_3": [ + 1.3810850083827972, + 0.054292500019073486, + 0.0 + ], + "carrier_4": [ + 0.22923526167869568, + 0.7000024914741516, + 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": [ + 0.4598324851238297, + -0.028700957211916622, + 2.9288907812297733 + ], + "ori": [ + 5.68248511708104, + 1.9326876603561196, + -24.341734148469893 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5221.30920521157, + "color": [ + 0.8617305039531451, + 0.9323135813738537, + 0.9041310898778656 + ], + "intensity": 6392.309600686169, + "width": 2.7602533256290163, + "height": 1.4330489025665671 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.7522789889285582, + 0.7530206320403481, + 1.8359609258934908 + ], + "ori": [ + -9.494060243791978, + -26.729426341118305, + -19.77154867154809 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4780.65685415298, + "color": [ + 0.858720973201988, + 0.9577171785500358, + 0.8742882913959025 + ], + "intensity": 3949.3375590157593, + "radius": 0.42456880695934296 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 572.0284038039094, + "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": [ + [ + 0.9141023755073547, + -1.7193979024887085, + 2.09049916267395, + -1.9419000148773193, + -1.5707999467849731, + 2.484900951385498, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141038060188293, + -1.7193962335586548, + 2.0904979705810547, + -1.9419007301330566, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.1109780073165894, + -1.458683967590332, + 2.115171432495117, + -2.2272403240203857, + -1.5707963705062866, + 2.61623477935791, + 0.01800004579126835, + 0.017999956384301186 + ], + [ + 1.106081485748291, + -1.3327257633209229, + 2.327507734298706, + -2.5655128955841064, + -1.5708225965499878, + 2.7961697578430176, + 0.007587068248540163, + 0.007052827626466751 + ] + ], + "joint_vel": [ + [ + 3.405965117053711e-06, + 3.4059371500916313e-06, + -9.024611787034065e-12, + -2.242329802740195e-12, + -3.4059783047268866e-06, + 8.243680260991426e-13, + -4.877628791317978e-13, + 2.144482101661474e-13 + ], + [ + 2.6918052273856425e-38, + -1.9032564661918383e-38, + 1.9637370684314832e-38, + -3.544054662586233e-37, + 3.333943298222107e-37, + -2.260048960306531e-36, + 2.5990388508034812e-08, + -2.5990386731677972e-08 + ], + [ + -0.00011674265988403931, + 0.013197354041039944, + 0.009825305081903934, + -0.02183985896408558, + -7.494596502510831e-06, + -1.4012026440468617e-05, + -6.026406936143758e-06, + 5.975946351099992e-06 + ], + [ + -0.0002982783771585673, + -5.789728311356157e-05, + -0.00024986075004562736, + -0.0017975348746404052, + 0.00100052694324404, + 0.006378537975251675, + -0.007537913508713245, + 0.0002685358631424606 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.053855448961257935, + -0.00023740576580166817, + -0.029458370059728622, + -0.26764169335365295, + 0.6583658456802368, + 0.6445053815841675, + -0.2820197641849518 + ], + [ + 0.04980260878801346, + -0.002698865719139576, + -0.02591453306376934, + -0.28536421060562134, + 0.6448583006858826, + 0.6504009962081909, + -0.28231820464134216 + ], + [ + 0.052533503621816635, + 0.0010810173116624355, + -0.03044453263282776, + -0.28123509883880615, + 0.6530129313468933, + 0.6386879682540894, + -0.2942083477973938 + ], + [ + 0.0481509268283844, + -0.0016308606136590242, + -0.030673490837216377, + -0.2839307188987732, + 0.647788405418396, + 0.6508410573005676, + -0.2759700417518616 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e009/wrist.mp4 b/episodes/c6_p000_e009/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0a637734cadf4aef94f522d4fce690ef0a18309b --- /dev/null +++ b/episodes/c6_p000_e009/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cdd055415326c03285ee097bf2327d11e4edb00e56b5e9a7c1ec2736f9b85355 +size 8016452 diff --git a/episodes/c6_p000_e010/data.npz b/episodes/c6_p000_e010/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..631da5e78928b0c45fedf6654365fee41a71ed3c --- /dev/null +++ b/episodes/c6_p000_e010/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2111b0de0daf81b841ce807c64f24eb24a003177ecb8520ac73958b177729518 +size 203459 diff --git a/episodes/c6_p000_e010/device_events.jsonl b/episodes/c6_p000_e010/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..24b2d424baaae90e5ca99a36d51f4d7b99844998 --- /dev/null +++ b/episodes/c6_p000_e010/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 43, "t": 0.215, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 43, "t": 0.215, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 48, "t": 0.24, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1660, "t": 8.3, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6695, "t": 33.475, "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": 7308, "t": 36.54, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7308, "t": 36.54, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.859286369364692}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 7308, "t": 36.54, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 9, "step": 7308, "t": 36.54, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 10, "step": 7308, "t": 36.54, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 11, "step": 7727, "t": 38.635, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 7727, "t": 38.635, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7727, "t": 38.635, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7727, "t": 38.635, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 7727, "t": 38.635, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7727, "t": 38.635, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7727, "t": 38.635, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 18, "step": 7727, "t": 38.635, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 19, "step": 7727, "t": 38.635, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.859286369364692}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 8699, "t": 43.495, "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": 8699, "t": 43.495, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.860000000002486}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8699, "t": 43.495, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.860000000002486}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 8699, "t": 43.495, "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": 8699, "t": 43.495, "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": 8699, "t": 43.495, "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": 9119, "t": 45.595, "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": 9119, "t": 45.595, "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": 9119, "t": 45.595, "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": 9119, "t": 45.595, "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": 9119, "t": 45.595, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 9119, "t": 45.595, "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": 9700, "t": 48.5, "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": 11936, "t": 59.68, "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": 11936, "t": 59.68, "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": 11936, "t": 59.68, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 11936, "t": 59.68, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c6_p000_e010/env.mp4 b/episodes/c6_p000_e010/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..96a84ca6e760925830e939e5aadac61bd475a9db --- /dev/null +++ b/episodes/c6_p000_e010/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7dee86cede519b07ecb5ea03a6fc597b2b3f1fd01b7707e95eb83d42c22dc06d +size 1361360 diff --git a/episodes/c6_p000_e010/meta.json b/episodes/c6_p000_e010/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9389bec6fc75324cdbf529324961e948479ac8a9 --- /dev/null +++ b/episodes/c6_p000_e010/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/10", + "fps": 25, + "frames": 1341, + "kept_ticks": "even", + "video_frames": { + "wrist": 1341, + "env": 1341 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e010/scene_snapshot.json b/episodes/c6_p000_e010/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..7675663fdff0aa35df35429a1914a8322e34f11b --- /dev/null +++ b/episodes/c6_p000_e010/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 10, + "env_id": 2, + "run_id": "c6_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_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": [ + 0.46108436584472656, + 0.05295372009277344, + 0.8999999761581421 + ], + "ori": [ + 0.7118666768074036, + 0.0, + 0.0, + -0.7023146152496338 + ], + "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": 0.24621652473522804, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1912876499368793, + "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": 0.24621652473522804, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.017312049865722656, + 1.1500024795532227, + 0.8999999761581421 + ], + "ori": [ + 3.317003574920818e-06, + 1.3973336265848957e-08, + 7.122356926458906e-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": [ + -3.5832985467720846e-09, + -1.103586999562367e-08, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 4.228494958624651e-07, + -2.4009005983316456e-07, + -6.942280350585861e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.041161537170410156, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.956643013225403e-09, + -6.8733987390601214e-09, + -5.1056988013442606e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.368741090057028e-10, + -4.3124642745695496e-11, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.385529995763136e-08, + 6.869944968457276e-08, + 5.5456808034648475e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0635709762573242, + 1.1479549407958984, + 0.8999999761581421 + ], + "ori": [ + -0.018008504062891006, + -1.0964665619894731e-07, + 1.6730989216284797e-07, + 0.9998378753662109 + ], + "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": [ + -8.953098817876537e-10, + -1.354473755377228e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 8.40503275867377e-08, + -7.678224278606649e-08, + -1.5449814760870595e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6914424896240234, + 0.8725700378417969, + 0.8999999761581421 + ], + "ori": [ + 0.6314460635185242, + -1.696353280067342e-09, + 1.1164308943989454e-07, + 0.7754198312759399 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.55351295663786e-10, + -2.7091888732400093e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + -4.1194255118170986e-07, + 3.6336587072582915e-08, + 2.2845384251013456e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.022968292236328125, + 1.1616706848144531, + 0.9179999828338623 + ], + "ori": [ + -0.0013464331859722733, + 1.2830991380496926e-08, + 5.209809916806307e-09, + 0.9999991059303284 + ], + "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": [ + -6.687711717745515e-09, + -7.636377574726794e-08, + 2.123415470123291e-07 + ], + "angular_velocity": [ + 9.680736638983944e-07, + 1.6641139382045367e-06, + -1.3868428538899025e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.056038856506347656, + 0.4602241516113281, + 0.9180000424385071 + ], + "ori": [ + 0.9994626045227051, + 1.9122894379108857e-09, + -6.6389427288982006e-09, + 0.03277915343642235 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9892385516584454e-09, + -1.5241473860783117e-08, + -5.502253770828247e-06 + ], + "angular_velocity": [ + 2.1789796846860554e-06, + -1.8965769186252146e-06, + -1.3357468731101108e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -1.0510406494140625, + 1.1366472244262695, + 0.9180000424385071 + ], + "ori": [ + 0.05293460190296173, + -1.21463045843484e-07, + 1.6491875953761337e-07, + 0.9985979795455933 + ], + "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": [ + 1.725897291748879e-08, + -5.684223935986665e-08, + -4.43682074546814e-06 + ], + "angular_velocity": [ + 3.701215405271796e-07, + 2.111307367158588e-06, + 3.3586567838028714e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.6994876861572266, + 0.8681211471557617, + 0.9179999828338623 + ], + "ori": [ + 0.5760331749916077, + 2.184548542061293e-09, + 1.0316915677321958e-07, + 0.8174263834953308 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.948446357706416e-08, + 1.0062919386655267e-09, + -1.1175870895385742e-06 + ], + "angular_velocity": [ + 1.888603492261609e-06, + -1.189697513837018e-07, + -4.1757698454603087e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 6.19999999999989, + "step": 1240, + "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": 0.24621652473522804, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1196, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.13268795609474182, + 0.7000024914741516, + 0.0 + ], + "carrier_2": [ + -0.19116154313087463, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_3": [ + -1.2135709822177887, + 0.6979549527168274, + 0.0 + ], + "carrier_4": [ + 1.541442483663559, + 0.42257004976272583, + 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": [ + 0.8121219613711129, + 0.4254210479656807, + 2.9482619426945895 + ], + "ori": [ + 4.231214246889365, + 8.940800482662205, + 17.26203293655388 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6950.767387104859, + "color": [ + 0.9584908365427856, + 0.9019712589906219, + 0.8906955863691881 + ], + "intensity": 6816.062439922414, + "width": 1.6560984200124949, + "height": 0.8749343182803486 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.606463768752828, + 0.39505804456499627, + 1.8278257568087553 + ], + "ori": [ + -23.434417449570955, + -7.049081501590763, + -29.982060271864988 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3818.560828034334, + "color": [ + 0.8314367326018954, + 0.9404760910613392, + 0.9620294056475344 + ], + "intensity": 8627.453621135888, + "radius": 0.14815699259285348 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 572.0284038039094, + "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": [ + [ + 0.9141023755073547, + -1.7193979024887085, + 2.09049916267395, + -1.9419000148773193, + -1.5707999467849731, + 2.484900951385498, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141026139259338, + -1.7193982601165771, + 2.0904994010925293, + -1.9419007301330566, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.914104163646698, + -1.7193959951400757, + 2.0904977321624756, + -1.9419007301330566, + -1.5707999467849731, + 2.484901189804077, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.1059069633483887, + -1.390679121017456, + 2.3089983463287354, + -2.489074945449829, + -1.5707948207855225, + 2.796097993850708, + 0.018000049516558647, + 0.01799994893372059 + ] + ], + "joint_vel": [ + [ + 3.405965117053711e-06, + 3.4059371500916313e-06, + -9.266401014562664e-12, + -1.6726675383313405e-12, + -3.4059783047268866e-06, + 1.1404077552082392e-12, + -5.622531520227403e-13, + 1.7297483432578142e-13 + ], + [ + -2.39852242711263e-38, + 3.0230531266929145e-38, + 0.0, + 5.927336455496989e-37, + -7.0760191462300255e-37, + -2.4163696558243515e-36, + 0.0, + -9.39838772803923e-38 + ], + [ + 2.6088091219406123e-38, + 0.0, + 0.0, + -3.847472325976505e-37, + 6.266398667664599e-37, + 5.621112607853998e-37, + -6.098613467363466e-38, + 6.169303930214181e-38 + ], + [ + -0.00010466351523064077, + 0.020662197843194008, + 0.007150567602366209, + -0.02662108838558197, + -8.605624316260219e-06, + 8.802401862340048e-05, + -8.268982128356583e-06, + 8.270990292658098e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05083727464079857, + -0.0015504687326028943, + -0.027821416035294533, + -0.27225953340530396, + 0.6484903693199158, + 0.6533584594726562, + -0.2801031172275543 + ], + [ + 0.046953026205301285, + -0.000509925652295351, + -0.027890879660844803, + -0.289631724357605, + 0.6445849537849426, + 0.6495408415794373, + -0.28057152032852173 + ], + [ + 0.050030339509248734, + 0.0013978452188894153, + -0.029609236866235733, + -0.2762722969055176, + 0.6548646092414856, + 0.6389395594596863, + -0.29424849152565 + ], + [ + 0.04867367446422577, + -0.005826830863952637, + -0.030665619298815727, + -0.28211987018585205, + 0.6493491530418396, + 0.6489777565002441, + -0.27853527665138245 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e010/wrist.mp4 b/episodes/c6_p000_e010/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..62a172c55ee5b2c70a3707e3813199ab0fb88517 --- /dev/null +++ b/episodes/c6_p000_e010/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:35b4078afd0a4d194eda76486680095571a47d188914b00a34e75f5a155bd75f +size 7331515 diff --git a/episodes/c6_p000_e011/data.npz b/episodes/c6_p000_e011/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..c77031034bb53fcc07588520702f03cd72326462 --- /dev/null +++ b/episodes/c6_p000_e011/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cd01424685a97bc6947fc691a2427da990f8ec49eb60e8388de14b77e9abcdb +size 191370 diff --git a/episodes/c6_p000_e011/device_events.jsonl b/episodes/c6_p000_e011/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8daa00204551a7c34cd8163761601b761dd25bf1 --- /dev/null +++ b/episodes/c6_p000_e011/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 138, "t": 0.69, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 138, "t": 0.69, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 143, "t": 0.715, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1801, "t": 9.005, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6571, "t": 32.855, "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": 7184, "t": 35.92, "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": 7184, "t": 35.92, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.207810145417976}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 7184, "t": 35.92, "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": 7184, "t": 35.92, "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": 7184, "t": 35.92, "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": 7603, "t": 38.015, "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": 7603, "t": 38.015, "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": 7603, "t": 38.015, "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": 7603, "t": 38.015, "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": 7603, "t": 38.015, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7603, "t": 38.015, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 7603, "t": 38.015, "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": 7603, "t": 38.015, "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": 7603, "t": 38.015, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.207810145417976}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 8445, "t": 42.225, "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": 8445, "t": 42.225, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.210000000002154}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8445, "t": 42.225, "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": 4.210000000002154}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 8445, "t": 42.225, "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": 8445, "t": 42.225, "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": 8445, "t": 42.225, "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": 8865, "t": 44.325, "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": 8865, "t": 44.325, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8865, "t": 44.325, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8865, "t": 44.325, "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": 8865, "t": 44.325, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 8865, "t": 44.325, "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": 9448, "t": 47.24, "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": 11208, "t": 56.04, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11208, "t": 56.04, "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": 11208, "t": 56.04, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 11208, "t": 56.04, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c6_p000_e011/env.mp4 b/episodes/c6_p000_e011/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7ad296d7bd99d52624b85c688712c87416c60e2d --- /dev/null +++ b/episodes/c6_p000_e011/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d002d4c2f59cb72c7ab088ff073b25e86e2b3d5dd2eaeb2730274094ddb7744c +size 1303376 diff --git a/episodes/c6_p000_e011/meta.json b/episodes/c6_p000_e011/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4086e28d9445aa34d1e9bf30bfd74db85eaf0c38 --- /dev/null +++ b/episodes/c6_p000_e011/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/11", + "fps": 25, + "frames": 1234, + "kept_ticks": "even", + "video_frames": { + "wrist": 1234, + "env": 1234 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e011/scene_snapshot.json b/episodes/c6_p000_e011/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..9f7504b7d0187782fd96c447146ad47833922555 --- /dev/null +++ b/episodes/c6_p000_e011/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 11, + "env_id": 1, + "run_id": "c6_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5073986053466797, + 0.06928730010986328, + 0.8999999761581421 + ], + "ori": [ + -0.6957700252532959, + 0.0, + 0.0, + 0.718264639377594 + ], + "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": [ + 3.3641663673561473e-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": 0.28199888233810144, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.23662763437355308, + "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": 0.28199888233810144, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3448343276977539, + 1.1525382995605469, + 0.8999999761581421 + ], + "ori": [ + -0.009249037131667137, + -3.0919142801622e-08, + -1.7429943710567386e-08, + 0.999957263469696 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0721878940245233e-10, + 1.1849232706140356e-09, + 0.0 + ], + "angular_velocity": [ + -1.7737747270984983e-08, + -2.984368663305759e-08, + -1.678964345330769e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.08623695373535156, + 0.44742679595947266, + 0.8999999761581421 + ], + "ori": [ + 0.9999335408210754, + 1.1541029243389289e-10, + 3.9954226593863496e-09, + 0.011528467759490013 + ], + "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": [ + 1.9554207142391533e-09, + 3.553785044019264e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -5.559467552984643e-09, + 1.71936534343331e-07, + -1.0903809410933718e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6968765258789062, + 0.8233022689819336, + 0.8999999761581421 + ], + "ori": [ + 0.6906684041023254, + 7.333949980647958e-08, + -1.560491469376757e-08, + 0.723171591758728 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.24205204296868e-09, + -6.405379004981171e-11, + 0.0 + ], + "angular_velocity": [ + 4.740063985764209e-08, + -1.3379462870943826e-07, + 3.233335377217372e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0970993041992188, + 1.1434707641601562, + 0.8999999761581421 + ], + "ori": [ + -0.06343282014131546, + 1.162261042964019e-07, + -3.5439295942296667e-09, + 0.9979861378669739 + ], + "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": [ + 1.145860665019427e-06, + 7.557791548151727e-08, + -2.6300549507141113e-06 + ], + "angular_velocity": [ + -1.3774834769719746e-05, + 0.00010115814802702516, + -3.403904358378895e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.33371448516845703, + 1.1554327011108398, + 0.9179999828338623 + ], + "ori": [ + -0.049444254487752914, + -3.0436119402565964e-08, + -1.4984102847392933e-08, + 0.998776912689209 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.400776442205824e-08, + 5.077917109019836e-08, + 1.1548399925231934e-07 + ], + "angular_velocity": [ + -7.538906174886506e-07, + 2.5474896574451122e-06, + 1.1625381546309654e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -0.0980682373046875, + 0.4448814392089844, + 0.9180000424385071 + ], + "ori": [ + 0.9986681342124939, + 2.103557772414888e-09, + 4.003008591269008e-09, + 0.0515940859913826 + ], + "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": [ + -3.0687576924037785e-09, + 8.65029647911797e-09, + -5.736947059631348e-06 + ], + "angular_velocity": [ + 8.575604510951962e-07, + -1.6041310573200462e-06, + -7.038436677930804e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.6988391876220703, + 0.8348779678344727, + 0.9179999828338623 + ], + "ori": [ + 0.697108805179596, + 4.3302409835632716e-07, + 1.8489089370632428e-07, + 0.71696537733078 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.6563267308811191e-06, + 6.330571068247082e-06, + -5.8002769947052e-06 + ], + "angular_velocity": [ + -9.385927114635706e-06, + 9.299325756728649e-05, + -2.707611201913096e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.1103811264038086, + 1.1529436111450195, + 0.9179999828338623 + ], + "ori": [ + -0.15933476388454437, + -2.5455227614656906e-07, + -1.15394698241289e-08, + 0.9872246384620667 + ], + "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": [ + 1.0152510185434949e-05, + 5.216959834797308e-06, + -4.716217517852783e-06 + ], + "angular_velocity": [ + 3.406928590266034e-05, + 0.00020138986292295158, + 1.6175696146092378e-05 + ] + } + } + ], + "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": 6.819999999999877, + "step": 1364, + "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": 3.3641663673561473e-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": 0.28199888233810144, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1225, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.19483432173728943, + 0.7025383114814758, + 0.0 + ], + "carrier_2": [ + -0.23623695969581604, + -0.0025731921195983887, + 0.0 + ], + "carrier_3": [ + 1.5468765199184418, + 0.37330228090286255, + 0.0 + ], + "carrier_4": [ + -1.2470993101596832, + 0.6934707760810852, + 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": [ + 0.08349073989743416, + 0.28238400085267756, + 2.8193412453552797 + ], + "ori": [ + -7.562201314493845, + -4.28302290430978, + -5.1006096047211145 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5092.998193816951, + "color": [ + 0.8644166513767984, + 0.9970673463640349, + 0.9429847586661771 + ], + "intensity": 7816.936152399001, + "width": 1.708429864797682, + "height": 1.2441066739445397 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.5433814144743019, + 0.41049877576852567, + 2.4822627458746878 + ], + "ori": [ + 20.02082102599303, + 20.131131075955565, + 27.859808712540797 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4588.472544847444, + "color": [ + 0.7931779746918411, + 0.7622335549511382, + 0.8278632232657274 + ], + "intensity": 5095.610492586618, + "radius": 0.2300333399836485 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 572.0284038039094, + "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": [ + [ + 1.0380549430847168, + -1.573565125465393, + 2.1717679500579834, + -2.169189214706421, + -1.5707441568374634, + 2.701934814453125, + 0.008305889554321766, + 0.006587456911802292 + ], + [ + 0.9141103029251099, + -1.7193973064422607, + 2.090498208999634, + -1.9419009685516357, + -1.5707999467849731, + 2.4849038124084473, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.1110363006591797, + -1.4928500652313232, + 2.086851119995117, + -2.16520619392395, + -1.5707505941390991, + 2.616375207901001, + 0.0082175824791193, + 0.006713325157761574 + ], + [ + 1.7628408670425415, + -2.0138466358184814, + 2.5276577472686768, + -2.0844225883483887, + -1.5707873106002808, + 3.3870537281036377, + 0.007601039484143257, + 0.007042065262794495 + ] + ], + "joint_vel": [ + [ + 0.00020226035849191248, + -7.017541793175042e-05, + -0.00041399316978640854, + 0.0005502344574779272, + -0.0003007606428582221, + -0.0015419721603393555, + -0.0056794509291648865, + 0.0002062929270323366 + ], + [ + -2.5029348572476293e-38, + 2.2752544051013688e-38, + 0.0, + 5.051768404915139e-37, + -8.166767450085034e-38, + 5.6433477392626415e-37, + 2.599039206074849e-08, + -2.599039206074849e-08 + ], + [ + 0.0002702626516111195, + 0.0002590251970104873, + 0.0004562314716167748, + 0.00026078178780153394, + 9.106930519919842e-06, + -0.00019743545271921903, + -0.0065315645188093185, + 0.0002587763883639127 + ], + [ + 0.07354114949703217, + -0.04766757786273956, + 0.03728632628917694, + 0.00931472983211279, + 8.089923358056694e-05, + 0.06472311913967133, + -0.007630608510226011, + 0.0005380685906857252 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05237831920385361, + 0.0010186595609411597, + -0.025893952697515488, + -0.27407920360565186, + 0.6576051115989685, + 0.6420222520828247, + -0.283272922039032 + ], + [ + 0.04791959375143051, + -0.00090382358757779, + -0.025214506313204765, + -0.28498589992523193, + 0.642892062664032, + 0.6514987349510193, + -0.28464409708976746 + ], + [ + 0.05070315673947334, + -0.0005945550510659814, + -0.028274504467844963, + -0.27157771587371826, + 0.6556104421615601, + 0.6369492411613464, + -0.3011912703514099 + ], + [ + 0.04954609274864197, + -0.003536824369803071, + -0.030360160395503044, + -0.2865968346595764, + 0.6489553451538086, + 0.6491104364395142, + -0.2745448350906372 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e011/wrist.mp4 b/episodes/c6_p000_e011/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ae12ffeb8b7cdd20a94b9fda3ccf347f6bbfafc5 --- /dev/null +++ b/episodes/c6_p000_e011/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89a3764861de6ea5e6299fd17c67f6486fbce8d866d9617aafd25ba3b95fd913 +size 7264291 diff --git a/episodes/c6_p000_e012/data.npz b/episodes/c6_p000_e012/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..66cdec1e3ba05e039353d63bba4002b824347774 --- /dev/null +++ b/episodes/c6_p000_e012/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c144593bc79322f3dbb341f6ea4b26252d04f37558e9ce86cb0ae10fabe19a3e +size 188304 diff --git a/episodes/c6_p000_e012/device_events.jsonl b/episodes/c6_p000_e012/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b9a5fcbda55464a50ae2a93e2bde277af5722095 --- /dev/null +++ b/episodes/c6_p000_e012/device_events.jsonl @@ -0,0 +1,39 @@ +{"env_id": 3, "seq": 1, "step": 98, "t": 0.49, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 98, "t": 0.49, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 103, "t": 0.515, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 743, "t": 3.715, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 792, "t": 3.96, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 820, "t": 4.1, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 906, "t": 4.53, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 8, "step": 5699, "t": 28.495, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6312, "t": 31.56, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 10, "step": 6312, "t": 31.56, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.2627723997834894}, "cause": "task-3-1"} +{"env_id": 3, "seq": 11, "step": 6312, "t": 31.56, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 6312, "t": 31.56, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 13, "step": 6312, "t": 31.56, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 6731, "t": 33.655, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 15, "step": 6731, "t": 33.655, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 16, "step": 6731, "t": 33.655, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 17, "step": 6731, "t": 33.655, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 18, "step": 6731, "t": 33.655, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 19, "step": 6731, "t": 33.655, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 20, "step": 6731, "t": 33.655, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 6731, "t": 33.655, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 22, "step": 6731, "t": 33.655, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.2627723997834894}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 7184, "t": 35.92, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7184, "t": 35.92, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.2650000000011588}, "cause": "program-3-3"} +{"env_id": 3, "seq": 25, "step": 7184, "t": 35.92, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.2650000000011588}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 26, "step": 7184, "t": 35.92, "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": 27, "step": 7184, "t": 35.92, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 28, "step": 7184, "t": 35.92, "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": 29, "step": 7604, "t": 38.02, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 30, "step": 7604, "t": 38.02, "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": 31, "step": 7604, "t": 38.02, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 32, "step": 7604, "t": 38.02, "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": 33, "step": 7604, "t": 38.02, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 34, "step": 7604, "t": 38.02, "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": 35, "step": 8182, "t": 40.91, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 9908, "t": 49.54, "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": 37, "step": 9908, "t": 49.54, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 38, "step": 9908, "t": 49.54, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 39, "step": 9908, "t": 49.54, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c6_p000_e012/env.mp4 b/episodes/c6_p000_e012/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..763e5d5ce28cab7cf09f73ede8c4f1edb2e81388 --- /dev/null +++ b/episodes/c6_p000_e012/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af190565f884ff3c6bf1f99012d95fafab0944743b4bbcba55578a54783e6386 +size 1230803 diff --git a/episodes/c6_p000_e012/meta.json b/episodes/c6_p000_e012/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e57717407b03f6cc9956593cd53dc11968b45f08 --- /dev/null +++ b/episodes/c6_p000_e012/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/12", + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e012/scene_snapshot.json b/episodes/c6_p000_e012/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..36dbed982f7f07a3188d6cc2e480b17087d94042 --- /dev/null +++ b/episodes/c6_p000_e012/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 12, + "env_id": 3, + "run_id": "c6_p000", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 0.5043811798095703, + 0.1029367446899414, + 0.8999999761581421 + ], + "ori": [ + -0.6904402375221252, + 0.0, + 0.0, + 0.7233894467353821 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.3549153078950003e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.22686051537613533, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.07456118982372309, + "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": 0.22686051537613533, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.07532691955566406, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.9334523133381936e-09, + -3.292265127186056e-09, + -3.809027839452028e-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": [ + 1.798044824141698e-09, + 1.819685180315389e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -8.717656641010763e-08, + 1.5913505535536387e-07, + -2.3261920389927582e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3907928466796875, + 0.7323226928710938, + 0.8999999761581421 + ], + "ori": [ + -0.7681201100349426, + 1.4086120714296158e-08, + 2.9686590963251547e-08, + 0.6403058171272278 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.6571972640902e-10, + -3.9901576487366697e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 3.1105198416980784e-08, + 2.590139303038086e-08, + -8.326695777327586e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6972761154174805, + 0.807185173034668, + 0.8999999761581421 + ], + "ori": [ + 0.7055263519287109, + -3.4048216690507616e-08, + 7.849910055313103e-09, + 0.7086837887763977 + ], + "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": [ + -8.399230200240027e-10, + 9.601081041310522e-11, + 0.0 + ], + "angular_velocity": [ + -2.1806290106951565e-09, + -9.240596909876331e-08, + 3.1586351312284933e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.0982046127319336, + 1.1500053405761719, + 0.8999999761581421 + ], + "ori": [ + -1.495855667599244e-05, + 7.712218419442252e-09, + 5.080555087744187e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.155187719045443e-10, + -1.4059884367867426e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.0946951078949496e-07, + 9.579132154158287e-08, + -6.691168508154988e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.06915950775146484, + 0.43871402740478516, + 0.9179999828338623 + ], + "ori": [ + 0.995614767074585, + 1.6662630164532288e-09, + -2.8644497884755538e-09, + -0.09354835748672485 + ], + "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": [ + -1.4853233309963798e-08, + 3.165964201912175e-08, + 1.5273690223693848e-07 + ], + "angular_velocity": [ + -8.020188033697195e-07, + -1.7244841501451447e-06, + 1.426379458990823e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.385758399963379, + 0.7267036437988281, + 0.9180000424385071 + ], + "ori": [ + -0.7039700150489807, + 1.0627855928646568e-08, + 3.184270624956298e-08, + 0.7102296948432922 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5663417229916377e-09, + 2.2171718683239305e-08, + -5.759298801422119e-06 + ], + "angular_velocity": [ + -1.8644982446858194e-06, + -7.163390591813368e-07, + 4.997485447688632e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 1.6890754699707031, + 0.8155784606933594, + 0.9180000424385071 + ], + "ori": [ + 0.7204906940460205, + -3.459360087276764e-08, + 6.7783059165549275e-09, + 0.6934645771980286 + ], + "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": [ + 4.0904146736409075e-10, + -1.6843031858115864e-08, + -5.889683961868286e-06 + ], + "angular_velocity": [ + 1.394112018715532e-06, + 6.519818498418317e-07, + 5.700533378671935e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.0997304916381836, + 1.1562881469726562, + 0.9179999828338623 + ], + "ori": [ + 0.039693497121334076, + 7.949166658249851e-09, + -3.5316711777255705e-09, + 0.9992119669914246 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.267483871307377e-08, + -2.935568765849439e-08, + -1.3932585716247559e-06 + ], + "angular_velocity": [ + 8.167134524228459e-07, + 1.7930284457179368e-06, + 1.2241082458785968e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 1.639999999999987, + "step": 328, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 2.3549153078950003e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.22686051537613533, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 229, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.07467308640480042, + 2.682209014892578e-06, + 0.0 + ], + "carrier_2": [ + -1.540792852640152, + 0.2823227047920227, + 0.0 + ], + "carrier_3": [ + 1.547276109457016, + 0.3571851849555969, + 0.0 + ], + "carrier_4": [ + -0.051795393228530884, + 0.7000053524971008, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.5981466178572613, + -0.07312009662819358, + 2.6550647369514797 + ], + "ori": [ + 5.115882786286324, + 7.044140044341404, + -15.519591521354688 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6953.469296889072, + "color": [ + 0.8340399617272144, + 0.9175660707856929, + 0.8866263329528457 + ], + "intensity": 10251.31919685574, + "width": 1.5497832235085833, + "height": 1.8484833255077524 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.6999257161560013, + 1.1349535519630904, + 2.1369766931009044 + ], + "ori": [ + -10.518524543027592, + 38.32651022964734, + -24.866480505178814 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6096.4692529726535, + "color": [ + 0.8297550699931556, + 0.8179095368048113, + 0.9589877392821718 + ], + "intensity": 4187.227093460781, + "radius": 0.39894002747784096 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 572.0284038039094, + "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": [ + [ + 1.5563486814498901, + -1.4896713495254517, + 2.11251163482666, + -2.1928789615631104, + -1.5710796117782593, + 0.33457764983177185, + 0.008284117095172405, + 0.00698693236336112 + ], + [ + -0.1214781403541565, + -2.2822680473327637, + 2.445103883743286, + -1.7344372272491455, + -1.5709075927734375, + 4.573615074157715, + 0.008641516789793968, + 0.00611463887616992 + ], + [ + 1.2051995992660522, + -1.6546547412872314, + 2.1774353981018066, + -2.0931427478790283, + -1.570833683013916, + 1.2235116958618164, + 0.006604617461562157, + 0.008627659641206264 + ], + [ + 0.9141038656234741, + -1.7193962335586548, + 2.0904977321624756, + -1.941900610923767, + -1.5707999467849731, + 2.4849016666412354, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.021339746192097664, + 0.007177354767918587, + -0.004075226373970509, + -0.002957246731966734, + 0.00027175690047442913, + -0.05712402984499931, + -0.0020397398620843887, + 0.00010742710583144799 + ], + [ + 0.0002839229709934443, + 0.0010763511527329683, + 0.005253617186099291, + -0.00019984797108918428, + -0.0011668470688164234, + 0.002454337663948536, + -0.008000986650586128, + 0.0001017500035231933 + ], + [ + 0.030119864270091057, + 0.012449718080461025, + -0.009377540089190006, + -0.008249841630458832, + -0.005762829445302486, + -0.0843966156244278, + -0.0025305324234068394, + -0.000192859151866287 + ], + [ + 2.7904902704372535e-38, + 0.0, + 0.0, + -6.626041806429686e-37, + 3.3673964404089947e-37, + 2.3285952795614016e-37, + -4.040926623651018e-38, + 7.367010543254174e-38 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.052326470613479614, + 0.0010743949096649885, + -0.027003241702914238, + -0.26670169830322266, + 0.6559542417526245, + 0.6476128697395325, + -0.28141045570373535 + ], + [ + 0.048058778047561646, + 6.55078692943789e-05, + -0.02800905518233776, + -0.2841304540634155, + 0.6436188817024231, + 0.6534263491630554, + -0.2793896496295929 + ], + [ + 0.049226149916648865, + 0.0012447029585018754, + -0.02936195582151413, + -0.2712664306163788, + 0.65757817029953, + 0.6396297216415405, + -0.2913404405117035 + ], + [ + 0.04781249165534973, + -0.0021527132485061884, + -0.028295909985899925, + -0.27954816818237305, + 0.6455531716346741, + 0.6561979055404663, + -0.27298039197921753 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e012/wrist.mp4 b/episodes/c6_p000_e012/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cf2f7050c3ca6a2a925e652ea4d208a369fd9a5d --- /dev/null +++ b/episodes/c6_p000_e012/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a25bdfa966614de70677d8a0ed5cba0c0ad2b660748e8bb62d11f4a390534180 +size 7105539 diff --git a/episodes/c6_p000_e013/data.npz b/episodes/c6_p000_e013/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..13dcf5d152fc2b0c6ed4804e3fec54ae050b5c45 --- /dev/null +++ b/episodes/c6_p000_e013/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47db4245a794fae536b37a5aeed64477f1483340dab65efaa3c59bf3285fdec0 +size 188648 diff --git a/episodes/c6_p000_e013/device_events.jsonl b/episodes/c6_p000_e013/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b1214ec6b102a170554b80845aafd8afb50aaaf4 --- /dev/null +++ b/episodes/c6_p000_e013/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 104, "t": 0.52, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 104, "t": 0.52, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 109, "t": 0.545, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 5847, "t": 29.235, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6460, "t": 32.3, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 6, "step": 6460, "t": 32.3, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.950029952939678}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6460, "t": 32.3, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 8, "step": 6460, "t": 32.3, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 6460, "t": 32.3, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 6879, "t": 34.395, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 6879, "t": 34.395, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 6879, "t": 34.395, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 6879, "t": 34.395, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 6879, "t": 34.395, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 6879, "t": 34.395, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 6879, "t": 34.395, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 17, "step": 6879, "t": 34.395, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 6879, "t": 34.395, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.950029952939678}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7470, "t": 37.35, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 7470, "t": 37.35, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.9550000000015118}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7470, "t": 37.35, "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": 2.9550000000015118}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7470, "t": 37.35, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 23, "step": 7470, "t": 37.35, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 7470, "t": 37.35, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 7890, "t": 39.45, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 7890, "t": 39.45, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 7890, "t": 39.45, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 7890, "t": 39.45, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 7890, "t": 39.45, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 7890, "t": 39.45, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8471, "t": 42.355, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 10188, "t": 50.94, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 33, "step": 10188, "t": 50.94, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10188, "t": 50.94, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10188, "t": 50.94, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c6_p000_e013/env.mp4 b/episodes/c6_p000_e013/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8084b9dfbd493e043514f2c1ea551374ba9f75be --- /dev/null +++ b/episodes/c6_p000_e013/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50d9786121bb79e243d3814aada971f05a04a4656c4c1326cde7845dc00b194a +size 1257947 diff --git a/episodes/c6_p000_e013/meta.json b/episodes/c6_p000_e013/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6dc79569ed0a0d7272bfaab8753b3cb84783d983 --- /dev/null +++ b/episodes/c6_p000_e013/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/13", + "fps": 25, + "frames": 1217, + "kept_ticks": "even", + "video_frames": { + "wrist": 1217, + "env": 1217 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e013/scene_snapshot.json b/episodes/c6_p000_e013/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..dc61052e88c64b561de9ce867fe402830d168042 --- /dev/null +++ b/episodes/c6_p000_e013/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 13, + "env_id": 2, + "run_id": "c6_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46108436584472656, + 0.05295372009277344, + 0.8999999761581421 + ], + "ori": [ + 0.7118666768074036, + 0.0, + 0.0, + -0.7023146152496338 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.046247707890528e-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": 0.16568401705665997, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.0469237136460417, + "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": 0.16568401705665997, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1037445068359375, + 0.4499959945678711, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 5.972801697673447e-10, + -1.4192239605748114e-09, + -2.9242888558655977e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.299658655313124e-10, + 9.70372893149829e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -9.595609640200564e-08, + -7.696277748436842e-08, + -7.7390867048166e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.09761714935302734, + 1.1500043869018555, + 0.8999999761581421 + ], + "ori": [ + 9.907123057928402e-06, + -6.357555371039325e-09, + -2.5737678654991214e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2845231545099978e-09, + -1.4904688594441495e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.1975831171184836e-07, + -1.262546476255011e-07, + -5.326347363165951e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2111186981201172, + 0.49036216735839844, + 0.8999999761581421 + ], + "ori": [ + -0.9711335897445679, + -4.5830859107809374e-08, + -9.885696528044718e-08, + 0.23853619396686554 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.489863509287261e-09, + 6.19854922945251e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -7.636259624632658e-07, + -2.875959808079642e-07, + -2.1918459935932333e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6337823867797852, + 1.0031299591064453, + 0.8999999761581421 + ], + "ori": [ + 0.45761486887931824, + -1.6627637933197548e-07, + -4.0149708979697607e-07, + 0.8891505002975464 + ], + "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": [ + 9.407751377921159e-08, + 3.0044326138067845e-08, + -1.862645149230957e-08 + ], + "angular_velocity": [ + -2.9553903004853055e-06, + 4.677128799812635e-06, + -3.752766701836663e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.0931100845336914, + 0.4456348419189453, + 0.9179999828338623 + ], + "ori": [ + 0.9977015852928162, + -1.4003915804750022e-09, + 8.534041251451185e-10, + -0.06776180118322372 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.140452792787073e-08, + 1.904034263588983e-08, + 8.940696716308594e-08 + ], + "angular_velocity": [ + -4.709666825419845e-07, + -1.419995669493801e-06, + 1.1063167448810418e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.10748291015625, + 1.1559057235717773, + 0.9180000424385071 + ], + "ori": [ + -0.06104578077793121, + -6.1590093025643e-09, + -2.1504487079937462e-10, + 0.998134970664978 + ], + "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": [ + -1.5806471687085377e-09, + -1.0464036748203398e-08, + -5.5246055126190186e-06 + ], + "angular_velocity": [ + -6.123153184489638e-07, + 1.6638580291328253e-06, + -1.0837248964890023e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -1.2117996215820312, + 0.4832763671875, + 0.9180000424385071 + ], + "ori": [ + -0.9612306952476501, + -4.2307817693654215e-08, + -1.0126309746283368e-07, + 0.2757456600666046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.0111500020902895e-08, + 7.914294997135585e-08, + -5.763024091720581e-06 + ], + "angular_velocity": [ + -2.4184369067370426e-06, + -1.5769146557431668e-06, + 1.860429676980857e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.6344223022460938, + 0.9973106384277344, + 0.9179999828338623 + ], + "ori": [ + 0.4593693017959595, + -7.426228307849669e-07, + -1.3293534948388697e-06, + 0.8882454633712769 + ], + "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": [ + -1.9297158360132016e-07, + -1.1426976016082335e-05, + -2.0191073417663574e-05 + ], + "angular_velocity": [ + -5.7294819271191955e-05, + 0.00011207100033061579, + 7.63297502999194e-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": 2.539999999999968, + "step": 508, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.046247707890528e-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": 0.16568401705665997, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 403, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.04625549912452698, + -3.993511199951172e-06, + 0.0 + ], + "carrier_2": [ + -0.052382856607437134, + 0.7000043988227844, + 0.0 + ], + "carrier_3": [ + -1.3611187040805817, + 0.04036217927932739, + 0.0 + ], + "carrier_4": [ + 1.4837823808193207, + 0.5531299710273743, + 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": [ + 0.8204963480947253, + -0.10353977225015026, + 2.950588049365347 + ], + "ori": [ + -4.419390137657226, + -12.694907327484497, + -22.058736290386264 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5505.544096841381, + "color": [ + 0.9142905627087883, + 0.8943495487410423, + 0.8853916976593631 + ], + "intensity": 4989.447234535344, + "width": 1.618432272981715, + "height": 1.085232031448099 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.0834808856399476, + -0.5352039112151203, + 2.0941265427418063 + ], + "ori": [ + -7.727449770723432, + 16.846263236234947, + -19.59548321835448 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5869.118865182684, + "color": [ + 0.9082645151350657, + 0.8513117283320811, + 0.853144142667043 + ], + "intensity": 5579.493801579838, + "radius": 0.09277203585257139 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1274.3404505210538, + "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": [ + [ + 0.9141014218330383, + -1.719399094581604, + 2.0904998779296875, + -1.9419009685516357, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141008257865906, + -1.719398021697998, + 2.0904994010925293, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 2.0650200843811035, + -2.225393056869507, + 2.6942880153656006, + -2.037748336791992, + -1.570656657218933, + 3.667548179626465, + 0.007547320332378149, + 0.007325759157538414 + ] + ], + "joint_vel": [ + [ + -2.4799384284092876e-38, + 1.689200839014208e-38, + 0.0, + 3.5418704306439205e-37, + 6.713138895908471e-38, + 9.194073030954569e-37, + -3.354786996307614e-38, + 1.3836638518264907e-37 + ], + [ + 2.8790904487008115e-38, + 0.0, + -1.223222015997805e-38, + -6.656601323339682e-37, + 3.3489185825467762e-37, + 2.179928722884253e-37, + -2.494617310082783e-38, + -4.4586817218355324e-38 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.059632208198308945, + -0.03537004813551903, + 0.018167398869991302, + 0.0017000320367515087, + -0.0016978872008621693, + 0.059200067073106766, + -0.007117107510566711, + 0.0007326658815145493 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05327610671520233, + -0.0005278612952679396, + -0.02789655514061451, + -0.2639014720916748, + 0.655883252620697, + 0.6482174396514893, + -0.28282028436660767 + ], + [ + 0.04745990410447121, + -0.0014799858909100294, + -0.027549684047698975, + -0.2875078320503235, + 0.6427053213119507, + 0.6526223421096802, + -0.2799164950847626 + ], + [ + 0.04794006049633026, + 0.0018655373714864254, + -0.02953021600842476, + -0.2743672728538513, + 0.6531400680541992, + 0.6387733817100525, + -0.3001653552055359 + ], + [ + 0.04943874105811119, + -0.003883332246914506, + -0.029185080900788307, + -0.2899293899536133, + 0.6476693153381348, + 0.6496551036834717, + -0.2727886736392975 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e013/wrist.mp4 b/episodes/c6_p000_e013/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ef72508214d5b0148904b2bb831d1b048653218b --- /dev/null +++ b/episodes/c6_p000_e013/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:137a326b6ead9d394185c20d9d7247ec08c55205af4ef766d741ea005e0a33b3 +size 7308955 diff --git a/episodes/c6_p000_e014/data.npz b/episodes/c6_p000_e014/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..35f30373ff5b300d3e4b787fb424878be68a52f9 --- /dev/null +++ b/episodes/c6_p000_e014/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d291233712f011f09c98aa3a76e9b7baccb6545cc497ef8fb52816623a076b9 +size 189194 diff --git a/episodes/c6_p000_e014/device_events.jsonl b/episodes/c6_p000_e014/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8c2caf1bd58e406f5ae38ddd04b925343f18163c --- /dev/null +++ b/episodes/c6_p000_e014/device_events.jsonl @@ -0,0 +1,40 @@ +{"env_id": 0, "seq": 1, "step": 223, "t": 1.115, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 223, "t": 1.115, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 228, "t": 1.14, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1756, "t": 8.78, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 1784, "t": 8.92, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 1826, "t": 9.13, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 7, "step": 1913, "t": 9.565, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 8, "step": 1955, "t": 9.775, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 9, "step": 6695, "t": 33.475, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 10, "step": 7308, "t": 36.54, "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": 11, "step": 7308, "t": 36.54, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.040323741033623}, "cause": "task-0-1"} +{"env_id": 0, "seq": 12, "step": 7308, "t": 36.54, "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": 13, "step": 7308, "t": 36.54, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 14, "step": 7308, "t": 36.54, "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": 15, "step": 7727, "t": 38.635, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 16, "step": 7727, "t": 38.635, "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": 17, "step": 7727, "t": 38.635, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 18, "step": 7727, "t": 38.635, "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": 19, "step": 7727, "t": 38.635, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 20, "step": 7727, "t": 38.635, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 21, "step": 7727, "t": 38.635, "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": 22, "step": 7727, "t": 38.635, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 23, "step": 7727, "t": 38.635, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.040323741033623}, "cause": "program-0-3"} +{"env_id": 0, "seq": 24, "step": 8536, "t": 42.68, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 25, "step": 8536, "t": 42.68, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.045000000002069}, "cause": "program-0-3"} +{"env_id": 0, "seq": 26, "step": 8536, "t": 42.68, "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": 4.045000000002069}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 27, "step": 8536, "t": 42.68, "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": 28, "step": 8536, "t": 42.68, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 29, "step": 8536, "t": 42.68, "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": 30, "step": 8956, "t": 44.78, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 31, "step": 8956, "t": 44.78, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.397281863037587e-13}, "cause": "program-0-4"} +{"env_id": 0, "seq": 32, "step": 8956, "t": 44.78, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.397281863037587e-13}, "cause": "program-0-4"} +{"env_id": 0, "seq": 33, "step": 8956, "t": 44.78, "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": 34, "step": 8956, "t": 44.78, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 35, "step": 8956, "t": 44.78, "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": 36, "step": 9529, "t": 47.645, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 37, "step": 11192, "t": 55.96, "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": 38, "step": 11192, "t": 55.96, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 39, "step": 11192, "t": 55.96, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 40, "step": 11192, "t": 55.96, "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_p000_e014/env.mp4 b/episodes/c6_p000_e014/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..96c7ad7c006c2678186ad0da51a40b345f5ebc47 --- /dev/null +++ b/episodes/c6_p000_e014/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41b1a657a22fcb40a985329fc7b8a648b0e48614a5e37b33ea15795184457bfb +size 1232469 diff --git a/episodes/c6_p000_e014/meta.json b/episodes/c6_p000_e014/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..51a64bab7968db37733c5668b07881b92f143bf3 --- /dev/null +++ b/episodes/c6_p000_e014/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/14", + "fps": 25, + "frames": 1241, + "kept_ticks": "even", + "video_frames": { + "wrist": 1241, + "env": 1241 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e014/scene_snapshot.json b/episodes/c6_p000_e014/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..2ef74c6c786eefa742f3d6f49295710f97fdcd02 --- /dev/null +++ b/episodes/c6_p000_e014/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 14, + "env_id": 0, + "run_id": "c6_p000", + "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_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": [ + 0.4785776138305664, + 0.06960201263427734, + 0.8999999761581421 + ], + "ori": [ + -0.706503689289093, + 0.0, + 0.0, + 0.7077093720436096 + ], + "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": [ + 4.373416125774687e-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": 0.15226027158571825, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.04440327329268329, + "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": 0.15226027158571825, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3238162994384766, + 1.0134735107421875, + 0.8999999761581421 + ], + "ori": [ + -0.43794843554496765, + -6.967987786765661e-08, + -1.031007954566121e-07, + 0.8990000486373901 + ], + "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": [ + 1.3595094117135886e-07, + -4.551308663280906e-08, + 2.123415470123291e-07 + ], + "angular_velocity": [ + 4.335526227805531e-06, + 9.747168405738194e-06, + -2.0668062461481895e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.10572147369384766, + 0.44742488861083984, + 0.8999999761581421 + ], + "ori": [ + 0.9999407529830933, + 1.9638140003053195e-09, + -4.002955744653036e-09, + 0.010890674777328968 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.151974737823025e-09, + 9.734408834560782e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -6.551007913913054e-08, + 1.1331086824384329e-07, + -9.259347955037356e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6954736709594727, + 0.7623205184936523, + 0.8999999761581421 + ], + "ori": [ + 0.7434378862380981, + 5.827328664054221e-08, + -7.97750203673786e-08, + 0.6688050627708435 + ], + "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": [ + -5.205274078434741e-07, + -1.0553256970524671e-06, + -2.51084566116333e-06 + ], + "angular_velocity": [ + 9.398207475896925e-05, + -4.409233224578202e-05, + -3.457959252273213e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.190643310546875, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + 2.598782884888351e-05, + 3.0419430863126706e-10, + 2.5091788646847135e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.6810416936816637e-09, + -3.2601135124821212e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + 1.8069847840251896e-07, + -3.3183471259690123e-07, + -3.410310966955876e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -1.3320093154907227, + 1.0055484771728516, + 0.9179999828338623 + ], + "ori": [ + -0.5270815491676331, + -4.0962618186313193e-07, + 3.8084860420894984e-07, + 0.849814772605896 + ], + "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": [ + 1.0871152881009039e-05, + -1.9174742647010135e-06, + -3.591179847717285e-06 + ], + "angular_velocity": [ + 8.740600605960935e-05, + 0.00018021382857114077, + 6.511420360766351e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.11811351776123047, + 0.4497671127319336, + 0.9180000424385071 + ], + "ori": [ + 0.9989359378814697, + 1.2475880328821631e-09, + -3.746588372877113e-09, + 0.04612017422914505 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.314230833164402e-09, + 6.1952549756938424e-09, + -5.286186933517456e-06 + ], + "angular_velocity": [ + 5.496208927979751e-07, + -1.4196017446010956e-06, + -4.2996084914648236e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.6868324279785156, + 0.7543859481811523, + 0.9179999828338623 + ], + "ori": [ + 0.7793894410133362, + 6.857909085056235e-08, + -6.951878361860508e-08, + 0.6265397071838379 + ], + "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": [ + -1.095756374525081e-06, + -2.2350034214468906e-06, + -8.665025234222412e-06 + ], + "angular_velocity": [ + 9.387491445522755e-05, + -4.530519436229952e-05, + 7.908779764420615e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -0.18641281127929688, + 1.157588005065918, + 0.9179999828338623 + ], + "ori": [ + 0.0007904861704446375, + -3.656588920541992e-13, + 1.7865164902985953e-09, + 0.9999997615814209 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.831151763553862e-08, + -4.0541205947874914e-08, + -1.0505318641662598e-06 + ], + "angular_velocity": [ + 6.676914949821366e-07, + 1.731296265461424e-06, + -6.848971167983109e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 6.5999999999998815, + "step": 1320, + "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": 4.373416125774687e-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": 0.15226027158571825, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1096, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.473816305398941, + 0.5634735226631165, + 0.0 + ], + "carrier_2": [ + -0.04427853226661682, + -0.002575099468231201, + 0.0 + ], + "carrier_3": [ + 1.5454736649990082, + 0.3123205304145813, + 0.0 + ], + "carrier_4": [ + -0.3406433165073395, + 0.6999996304512024, + 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": [ + -0.10200394787448386, + -0.20370468398893987, + 2.743364424968544 + ], + "ori": [ + -2.1630246862718376, + 3.767772833846678, + 23.32918309527082 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5622.36556067321, + "color": [ + 0.9113849765793668, + 0.8203122218585038, + 0.951819110617142 + ], + "intensity": 8688.10370972486, + "width": 1.8784432115062255, + "height": 1.0542427218404744 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.6885695316620057, + 1.1091494651279137, + 2.4715990743068654 + ], + "ori": [ + -2.753669572446775, + 13.169451182744126, + 18.673163948647485 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6544.570530928751, + "color": [ + 0.8476387228332749, + 0.7786530579331858, + 0.8773603009381525 + ], + "intensity": 9972.360936087498, + "radius": 0.35784688957610555 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1274.3404505210538, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141027331352234, + -1.7193982601165771, + 2.0904998779296875, + -1.9419009685516357, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.914104163646698, + -1.719395399093628, + 2.090498208999634, + -1.941900610923767, + -1.5707999467849731, + 2.4849021434783936, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.7950643301010132, + -1.2824022769927979, + 2.1732733249664307, + -2.4616453647613525, + -1.5708391666412354, + 2.501321315765381, + 0.007658763322979212, + 0.006992894224822521 + ], + [ + 2.805447578430176, + -1.3915965557098389, + 2.219646453857422, + -2.3983559608459473, + -1.570130467414856, + 4.377304553985596, + 0.017999986186623573, + 0.017999986186623573 + ] + ], + "joint_vel": [ + [ + -2.3071322636066012e-38, + 2.630234695200446e-38, + 1.9626429345905384e-38, + 3.4140155103434156e-37, + -7.1520816268735765e-37, + -2.4498810023442534e-36, + 0.0, + 0.0 + ], + [ + 5.1089459702780005e-06, + -6.811891580582596e-06, + 6.811957518948475e-06, + -4.5670742578399204e-14, + 4.229940914679195e-14, + 1.153340877663167e-12, + -6.302819594364295e-15, + 6.638072524382116e-14 + ], + [ + 0.00025133611052297056, + -0.018969841301441193, + -0.006803025957196951, + 0.024196499958634377, + 0.00010696185927372426, + 0.0002342214429518208, + -0.008457898162305355, + 0.0002544849121477455 + ], + [ + 2.3144143597594e-14, + 3.4059337394864997e-06, + -1.2819252603879505e-11, + 6.8119552452117205e-06, + -3.4059796689689392e-06, + -6.213802530245088e-14, + 1.819328190322267e-07, + 1.819327337670984e-07 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.053212378174066544, + 0.0022291247732937336, + -0.02624271996319294, + -0.265602707862854, + 0.6528574228286743, + 0.6501538753509521, + -0.28378209471702576 + ], + [ + 0.048053644597530365, + -0.0006874117534607649, + -0.02867566980421543, + -0.28874439001083374, + 0.643011212348938, + 0.6521096229553223, + -0.27913492918014526 + ], + [ + 0.05034151300787926, + 0.0006837645196355879, + -0.028976626694202423, + -0.27654677629470825, + 0.65524822473526, + 0.6365917921066284, + -0.2981988191604614 + ], + [ + 0.04764426872134209, + -0.0009030050714500248, + -0.028027288615703583, + -0.28260722756385803, + 0.6442965269088745, + 0.6522554159164429, + -0.2820957601070404 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e014/wrist.mp4 b/episodes/c6_p000_e014/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0c5421de0cfe11469840cd813180328df5c1bbf0 --- /dev/null +++ b/episodes/c6_p000_e014/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db5f1601fd96d9028348745b76e7f5a7eeb0a05c9ba97a2aff7b637b9f023fa0 +size 6795560 diff --git a/episodes/c6_p000_e015/data.npz b/episodes/c6_p000_e015/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..f095f1688e3019817c9253487bdeedd11801d76e --- /dev/null +++ b/episodes/c6_p000_e015/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a216c6dda2c52eb05e1ae93d4bd7b9e1f78dfe964917b6fc01e3f9d12002c894 +size 187694 diff --git a/episodes/c6_p000_e015/device_events.jsonl b/episodes/c6_p000_e015/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2bdb2d43ff0d99abe1ff8eba0020f800861ef805 --- /dev/null +++ b/episodes/c6_p000_e015/device_events.jsonl @@ -0,0 +1,38 @@ +{"env_id": 1, "seq": 1, "step": 120, "t": 0.6, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "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": 1, "seq": 3, "step": 125, "t": 0.625, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 2101, "t": 10.505, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 2126, "t": 10.63, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 2264, "t": 11.32, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 7, "step": 6999, "t": 34.995, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 8, "step": 7612, "t": 38.06, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 9, "step": 7612, "t": 38.06, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.770586706128357}, "cause": "task-1-1"} +{"env_id": 1, "seq": 10, "step": 7612, "t": 38.06, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 11, "step": 7612, "t": 38.06, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 12, "step": 7612, "t": 38.06, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 8031, "t": 40.155, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 14, "step": 8031, "t": 40.155, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 15, "step": 8031, "t": 40.155, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 16, "step": 8031, "t": 40.155, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 17, "step": 8031, "t": 40.155, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 18, "step": 8031, "t": 40.155, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 19, "step": 8031, "t": 40.155, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 8031, "t": 40.155, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 21, "step": 8031, "t": 40.155, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.770586706128357}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8986, "t": 44.93, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 23, "step": 8986, "t": 44.93, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.775000000002443}, "cause": "program-1-3"} +{"env_id": 1, "seq": 24, "step": 8986, "t": 44.93, "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": 4.775000000002443}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 25, "step": 8986, "t": 44.93, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 26, "step": 8986, "t": 44.93, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 27, "step": 8986, "t": 44.93, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 9406, "t": 47.03, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 29, "step": 9406, "t": 47.03, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.913465467826228e-12}, "cause": "program-1-4"} +{"env_id": 1, "seq": 30, "step": 9406, "t": 47.03, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.913465467826228e-12}, "cause": "program-1-4"} +{"env_id": 1, "seq": 31, "step": 9406, "t": 47.03, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 32, "step": 9406, "t": 47.03, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 33, "step": 9406, "t": 47.03, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 34, "step": 9987, "t": 49.935, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11708, "t": 58.54, "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": 36, "step": 11708, "t": 58.54, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 37, "step": 11708, "t": 58.54, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 38, "step": 11708, "t": 58.54, "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/c6_p000_e015/env.mp4 b/episodes/c6_p000_e015/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..051f474cddff0195b5f7cc5077805347a77e5a25 --- /dev/null +++ b/episodes/c6_p000_e015/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ffd8738aafbd86a510b82ec1572bbf619a64684d24eab45cc505cfed470d8802 +size 1261939 diff --git a/episodes/c6_p000_e015/meta.json b/episodes/c6_p000_e015/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..04101a800ac90a49021ec6af5e4845267c059712 --- /dev/null +++ b/episodes/c6_p000_e015/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/15", + "fps": 25, + "frames": 1257, + "kept_ticks": "even", + "video_frames": { + "wrist": 1257, + "env": 1257 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e015/scene_snapshot.json b/episodes/c6_p000_e015/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..2db033b3ecd55e51e6867f7b60ed374ca6b4bb7f --- /dev/null +++ b/episodes/c6_p000_e015/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 15, + "env_id": 1, + "run_id": "c6_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5073986053466797, + 0.06928730010986328, + 0.8999999761581421 + ], + "ori": [ + -0.6957700252532959, + 0.0, + 0.0, + 0.718264639377594 + ], + "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": [ + 2.0185001673583836e-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": 0.2491975799183133, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.13896921499399148, + "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": 0.2491975799183133, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3809747695922852, + 0.6937875747680664, + 0.8999999761581421 + ], + "ori": [ + -0.8041297197341919, + 1.4903912770591887e-08, + 1.6505300237668052e-08, + 0.5944538116455078 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3961742872936611e-09, + -2.913446595087521e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 2.654662409895536e-07, + -9.36966912945536e-08, + 5.724172247312254e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5586919784545898, + 0.5229578018188477, + 0.8999999761581421 + ], + "ori": [ + 0.9510036110877991, + -5.2261196259451026e-08, + 4.185271151868619e-08, + 0.3091799020767212 + ], + "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": [ + -5.594443797107829e-10, + 3.077230692483113e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -4.32469988709272e-08, + -5.745126685496871e-08, + 3.975135776101979e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.213104248046875, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + 4.610406176652759e-05, + 6.405784347407462e-09, + -1.3521487929324394e-08, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.911365536486301e-09, + 8.745355728478899e-08, + -3.725290298461914e-08 + ], + "angular_velocity": [ + -2.795293539747945e-06, + -1.6161325788743852e-07, + 1.2716827768599615e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.011456489562988281, + 0.4500751495361328, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.361715074033043e-09, + 8.929409212043993e-09, + 0.00034008288639597595 + ], + "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": [ + -1.151302164714707e-09, + -8.339148038771782e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 2.5222612975994707e-07, + 6.045695499778958e-08, + 3.649546798101255e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.3866539001464844, + 0.6959457397460938, + 0.9179999828338623 + ], + "ori": [ + -0.8383568525314331, + 1.5852947399253026e-08, + 1.6355986787175425e-08, + 0.5451219081878662 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.645686146886874e-08, + -3.6992872765040374e-08, + 1.7508864402770996e-07 + ], + "angular_velocity": [ + -9.355928796139779e-07, + -2.3028565010463353e-06, + -4.0971605130835087e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.5523319244384766, + 0.5236997604370117, + 0.9180000424385071 + ], + "ori": [ + 0.9392551183700562, + -5.063908758984326e-08, + 4.470262027211902e-08, + 0.3432198464870453 + ], + "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": [ + -7.808269586462302e-10, + -1.2416565553508008e-08, + -5.427747964859009e-06 + ], + "angular_velocity": [ + 1.6059086647146614e-06, + 6.069918754292303e-07, + 1.3740937276907061e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.20288753509521484, + 1.161238670349121, + 0.9179999828338623 + ], + "ori": [ + -0.09355267882347107, + 5.131273894676269e-08, + -2.9483399544005806e-07, + 0.9956143498420715 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.0303408493637107e-06, + 6.44498982182995e-07, + -5.867332220077515e-06 + ], + "angular_velocity": [ + 6.429027416743338e-05, + 1.717833220027387e-05, + -3.417581683606841e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.018973350524902344, + 0.4581899642944336, + 0.9179999828338623 + ], + "ori": [ + 0.999571681022644, + 6.055249635039672e-09, + 8.93439100480009e-09, + 0.02926444634795189 + ], + "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": [ + -7.523215828086904e-08, + -1.3123445796736632e-07, + 2.2351741790771484e-07 + ], + "angular_velocity": [ + 3.7136276205274044e-06, + -3.335292149131419e-06, + 9.320228144815701e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 8.419999999999916, + "step": 1684, + "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": 2.0185001673583836e-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": 0.2491975799183133, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1563, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5309747755527496, + 0.24378758668899536, + 0.0 + ], + "carrier_2": [ + 1.4086919724941254, + 0.07295781373977661, + 0.0 + ], + "carrier_3": [ + 0.06310424208641052, + 0.6999977231025696, + 0.0 + ], + "carrier_4": [ + -0.1385435163974762, + 7.516145706176758e-05, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.8036617157846905, + 0.31535863209865145, + 2.6509481202913463 + ], + "ori": [ + -9.408732825130691, + -8.89341622104393, + 24.678643267513728 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4842.7563277361205, + "color": [ + 0.8775638214663359, + 0.817471174352427, + 0.8495215169656184 + ], + "intensity": 15972.02965812777, + "width": 2.6911376701010097, + "height": 1.5994247417118408 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.7945654814739017, + 0.8759561716446973, + 2.7180859497096375 + ], + "ori": [ + 19.096804395007624, + 9.689621718536472, + 39.89310654571173 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4060.6080812284195, + "color": [ + 0.9558632126565094, + 0.804851780167008, + 0.9782429420441404 + ], + "intensity": 3098.8717649745995, + "radius": 0.22611562773134503 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1274.3404505210538, + "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": [ + [ + 0.8084295392036438, + -1.308186411857605, + 1.9975371360778809, + -2.2601547241210938, + -1.5708218812942505, + 2.286896228790283, + 0.007639897987246513, + 0.007011680863797665 + ], + [ + 0.914106011390686, + -1.7193958759307861, + 2.09049916267395, + -1.941900610923767, + -1.5707999467849731, + 2.4849026203155518, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 1.3683096170425415, + -1.8498467206954956, + 2.1497011184692383, + -1.8701939582824707, + -1.5708692073822021, + 3.0228817462921143, + 0.007261801976710558, + 0.007885427214205265 + ], + [ + 2.530789852142334, + -1.9786354303359985, + 2.7060232162475586, + -2.2975316047668457, + -1.570288896560669, + 4.102646350860596, + 0.01799999363720417, + 0.018000004813075066 + ] + ], + "joint_vel": [ + [ + 0.00023911702737677842, + -0.014033122919499874, + -0.00898649636656046, + 0.021396124735474586, + 0.00033373082987964153, + 0.0007741724839434028, + -0.008006229065358639, + 0.0002407965512247756 + ], + [ + 5.108946879772702e-06, + -6.811890216340544e-06, + 6.811957973695826e-06, + -1.6037374878617727e-13, + 1.1882976427932818e-13, + 1.3500600377219785e-12, + -2.59903067956202e-08, + 2.5990500418515694e-08 + ], + [ + 0.0684681162238121, + -0.05181947723031044, + 0.012578167952597141, + 0.03961924836039543, + -0.00019049705588258803, + 0.05820023640990257, + -0.0040938458405435085, + 0.000256375118624419 + ], + [ + -1.3623852282762527e-05, + -6.811907951487228e-06, + 1.3623900485981721e-05, + -3.2648174528443485e-12, + -2.500990950796145e-13, + -3.901243911252905e-12, + 7.797109446983086e-08, + -7.797099499384785e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05187481641769409, + -0.0008158750715665519, + -0.028634188696742058, + -0.2699770927429199, + 0.6579431891441345, + 0.6442108154296875, + -0.2814525365829468 + ], + [ + 0.04892420768737793, + 0.0004315346013754606, + -0.028439009562134743, + -0.2831094264984131, + 0.6488150358200073, + 0.6482985019683838, + -0.28035181760787964 + ], + [ + 0.050779473036527634, + 0.0004714768729172647, + -0.026811987161636353, + -0.2716410756111145, + 0.6556577086448669, + 0.6384204030036926, + -0.2978985011577606 + ], + [ + 0.04868551343679428, + -0.0015007436741143465, + -0.029718564823269844, + -0.2825425863265991, + 0.6503323316574097, + 0.6496341824531555, + -0.2742499113082886 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e015/wrist.mp4 b/episodes/c6_p000_e015/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0a6dd22c5fe5b51d361df692c123d665745a3c5c --- /dev/null +++ b/episodes/c6_p000_e015/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca462fd45ae5146a5c52549fd5a9e6f4b662000132f051a67b9653923e53b07c +size 6562495 diff --git a/episodes/c6_p000_e016/data.npz b/episodes/c6_p000_e016/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..509bbf7bff6847e370acfbfb1a2b4ffbc9e7f266 --- /dev/null +++ b/episodes/c6_p000_e016/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08c3287aae8d2a1130bf7c70a4d93fb589abf96bf59ed33ad541db4ba47b74a3 +size 191552 diff --git a/episodes/c6_p000_e016/device_events.jsonl b/episodes/c6_p000_e016/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7aa1f2e69dd0c34c49f6f7e5cf68c8a80ba60638 --- /dev/null +++ b/episodes/c6_p000_e016/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 109, "t": 0.545, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 109, "t": 0.545, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 114, "t": 0.57, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6135, "t": 30.675, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6748, "t": 33.74, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 6748, "t": 33.74, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.085749206193448}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6748, "t": 33.74, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 6748, "t": 33.74, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6748, "t": 33.74, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7167, "t": 35.835, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7167, "t": 35.835, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7167, "t": 35.835, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7167, "t": 35.835, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7167, "t": 35.835, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7167, "t": 35.835, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7167, "t": 35.835, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7167, "t": 35.835, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7167, "t": 35.835, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.085749206193448}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7985, "t": 39.925, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7985, "t": 39.925, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.090000000002092}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7985, "t": 39.925, "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": 4.090000000002092}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7985, "t": 39.925, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 7985, "t": 39.925, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7985, "t": 39.925, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8405, "t": 42.025, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8405, "t": 42.025, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8405, "t": 42.025, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8405, "t": 42.025, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8405, "t": 42.025, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8405, "t": 42.025, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8987, "t": 44.935, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 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": 33, "step": 10764, "t": 53.82, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 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": 35, "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/c6_p000_e016/env.mp4 b/episodes/c6_p000_e016/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7bfd3ae4a73853b854da324961aa14fca13e6b3b --- /dev/null +++ b/episodes/c6_p000_e016/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e18facb0491b8e37a897cb6c84557f84dd65da0d425b70b1290150692ac18736 +size 1221702 diff --git a/episodes/c6_p000_e016/meta.json b/episodes/c6_p000_e016/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1bf1724cc48e584f593a5c64ffd23d2ef6500ce8 --- /dev/null +++ b/episodes/c6_p000_e016/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/16", + "fps": 25, + "frames": 1235, + "kept_ticks": "even", + "video_frames": { + "wrist": 1235, + "env": 1235 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e016/scene_snapshot.json b/episodes/c6_p000_e016/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..4b6b24439bab8864f024565ed9983ef248a1477e --- /dev/null +++ b/episodes/c6_p000_e016/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 16, + "env_id": 3, + "run_id": "c6_p000", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 0.5043811798095703, + 0.1029367446899414, + 0.8999999761581421 + ], + "ori": [ + -0.6904402375221252, + 0.0, + 0.0, + 0.7233894467353821 + ], + "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": 0.28996320416141164, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.12281964601203815, + "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": 0.28996320416141164, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.03776073455810547, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + -5.375309228838887e-06, + 8.462693878996674e-10, + -4.273446319036367e-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": [ + 7.128259094102418e-10, + -6.899116833380958e-10, + 0.0 + ], + "angular_velocity": [ + 5.021677651484424e-08, + 6.856220835516069e-08, + -3.011497717864131e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2323312759399414, + 1.0950946807861328, + 0.8999999761581421 + ], + "ori": [ + -0.26356858015060425, + 1.0263873662097467e-07, + 4.149282517573738e-08, + 0.964640736579895 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1894343288076925e-08, + -3.01749665254647e-08, + 0.0 + ], + "angular_velocity": [ + 1.037945025927911e-06, + 3.3942149002541555e-07, + -2.2277563971329073e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.027729034423828125, + 0.44820404052734375, + 0.8999999761581421 + ], + "ori": [ + 0.999859094619751, + 6.397468665930717e-11, + 1.8481770280853738e-10, + 0.01679052971303463 + ], + "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": [ + 1.155955331455516e-09, + 6.876238467512508e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -3.814175641991824e-08, + 1.0959018936773646e-07, + -1.0325671873090414e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6975183486938477, + 0.8081655502319336, + 0.8999999761581421 + ], + "ori": [ + 0.704681396484375, + -1.0909096914701877e-07, + 3.562102790510835e-08, + 0.7095239758491516 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.344173602596982e-10, + -2.1134211047879603e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -9.280650026255444e-09, + -3.174583085296945e-08, + -1.6477899933420304e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -0.04680061340332031, + 1.1499719619750977, + 0.9179999828338623 + ], + "ori": [ + 0.04185505211353302, + -7.845771810011115e-10, + -2.1938360017514924e-09, + 0.9991236925125122 + ], + "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": [ + 3.0009942975084414e-08, + -8.665570483401552e-09, + 7.82310962677002e-08 + ], + "angular_velocity": [ + 1.9031277531667e-07, + 1.6301746654789895e-06, + 1.4085033228639077e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.2467041015625, + 1.0996389389038086, + 0.9180000424385071 + ], + "ori": [ + -0.23929783701896667, + 1.2838485474730987e-07, + 2.794884323975566e-07, + 0.970946192741394 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.162066933437018e-07, + -2.6632696972228587e-06, + -4.030764102935791e-06 + ], + "angular_velocity": [ + -3.93314148823265e-05, + 3.5488228604663163e-06, + 8.14878148958087e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.02528858184814453, + 0.4485750198364258, + 0.9180000424385071 + ], + "ori": [ + 0.9959253668785095, + -1.1358025631125201e-09, + 2.70712896544012e-10, + 0.09018108993768692 + ], + "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": [ + -3.762723022049386e-09, + 5.6574691598143545e-09, + -5.651265382766724e-06 + ], + "angular_velocity": [ + 9.801523219721275e-07, + -1.5388164911200874e-06, + -6.183726952713187e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.707179069519043, + 0.8156623840332031, + 0.9179999828338623 + ], + "ori": [ + 0.6991180181503296, + -1.1149901979479182e-07, + 2.8358655868032656e-08, + 0.7150062918663025 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.197091841793508e-09, + -9.269896139585398e-08, + -3.255903720855713e-06 + ], + "angular_velocity": [ + 2.473678478054353e-06, + 2.728369281612686e-07, + 6.98807980370475e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 4.579999999999925, + "step": 916, + "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": 0.28996320416141164, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 806, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.18776074051856995, + 0.6999996304512024, + 0.0 + ], + "carrier_2": [ + -1.3823312819004059, + 0.6450946927070618, + 0.0 + ], + "carrier_3": [ + -0.12227097153663635, + -0.001795947551727295, + 0.0 + ], + "carrier_4": [ + 1.5475183427333832, + 0.35816556215286255, + 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": [ + -0.2365571643979546, + 0.04638629863447641, + 2.6437572164920726 + ], + "ori": [ + 14.440663875604454, + 3.508214053699078, + -13.686736734977835 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7139.442953314949, + "color": [ + 0.9025407055920159, + 0.8446388279239151, + 0.9532977742757855 + ], + "intensity": 10580.533916648135, + "width": 2.420175439996914, + "height": 1.4575187462243409 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.4387585461058987, + 1.2361746903736222, + 2.0802987243491518 + ], + "ori": [ + 37.14103565702578, + 29.732590802992178, + -34.815441400854674 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4753.263731888516, + "color": [ + 0.7624296704722399, + 0.8330121277675944, + 0.9215699172761334 + ], + "intensity": 2923.791666227249, + "radius": 0.36635020541902497 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1274.3404505210538, + "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": [ + [ + -0.009182085283100605, + -2.0600271224975586, + 2.363389015197754, + -1.8741227388381958, + -1.5708222389221191, + 4.773046493530273, + 0.007692266721278429, + 0.006969426292926073 + ], + [ + -0.0894918441772461, + -2.1789097785949707, + 2.3266594409942627, + -1.7184330224990845, + -1.569919466972351, + 4.658321380615234, + 0.018000002950429916, + 0.01799999549984932 + ], + [ + 1.3503409624099731, + -1.496408462524414, + 2.189544200897217, + -2.2605066299438477, + -1.5708390474319458, + 6.064944267272949, + 0.007674152497202158, + 0.007089945487678051 + ], + [ + 0.9141029119491577, + -1.7193975448608398, + 2.090498924255371, + -1.941900610923767, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -0.0001724631292745471, + -0.0019158765207976103, + -0.0031628410797566175, + 0.004646352957934141, + -2.3971861082827672e-05, + -5.034327114117332e-05, + -0.009127316065132618, + 0.00030586926732212305 + ], + [ + 7.897835488900051e-14, + -6.811854291299824e-06, + -6.811919774918351e-06, + -3.4059737572533777e-06, + -3.405978077353211e-06, + -2.1504453491354159e-13, + -5.198054964239418e-08, + 5.1980208581881016e-08 + ], + [ + -0.00014966685557737947, + 0.014987790025770664, + 0.01027299277484417, + -0.02427568845450878, + -4.75873239338398e-05, + 0.00017861733795143664, + -0.0073859356343746185, + 0.00024869281332939863 + ], + [ + 5.108947789267404e-06, + 3.4059551126119914e-06, + -6.811946150264703e-06, + 1.913641987927317e-12, + 1.2591308746513763e-13, + 7.085558810689119e-13, + 2.5990772201112122e-08, + -2.5990471996806264e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.053750768303871155, + -0.0005467222654260695, + -0.028590362519025803, + -0.2731993496417999, + 0.6513692736625671, + 0.6494907140731812, + -0.2814995348453522 + ], + [ + 0.048571571707725525, + 0.0016048524994403124, + -0.0285663865506649, + -0.2876363694667816, + 0.6419596076011658, + 0.6501768231391907, + -0.2870945334434509 + ], + [ + 0.04764780029654503, + 0.0015417906688526273, + -0.02962263487279415, + -0.27256402373313904, + 0.6563808917999268, + 0.6382814049720764, + -0.2957529127597809 + ], + [ + 0.04846156761050224, + -0.001980746630579233, + -0.02912171185016632, + -0.2779531478881836, + 0.6476771831512451, + 0.6536116003990173, + -0.27576836943626404 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e016/wrist.mp4 b/episodes/c6_p000_e016/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f751a913367c4ab815d797c9dfec53886c4bcad0 --- /dev/null +++ b/episodes/c6_p000_e016/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38167a51ed28c4bf13dc0fdaa375c65db8ab6f35673813ed7ee0c1173f9e5ac3 +size 7377852 diff --git a/episodes/c6_p000_e017/data.npz b/episodes/c6_p000_e017/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..68700feb9e42bc6cd0409e10bde579813d84e3c5 --- /dev/null +++ b/episodes/c6_p000_e017/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7afc888915d5fd03dffb8745a33b6cbd42095d2dfff93b472060d96eff56a26b +size 190763 diff --git a/episodes/c6_p000_e017/device_events.jsonl b/episodes/c6_p000_e017/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d77fe2d1765f70ddd8bdfc4c9bbb3c3dc9a57eea --- /dev/null +++ b/episodes/c6_p000_e017/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 129, "t": 0.645, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 129, "t": 0.645, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 134, "t": 0.67, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1245, "t": 6.225, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 5958, "t": 29.79, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6568, "t": 32.84, "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": 6568, "t": 32.84, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.9166023591298136}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6568, "t": 32.84, "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": 6568, "t": 32.84, "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": 6568, "t": 32.84, "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": 6987, "t": 34.935, "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": 6987, "t": 34.935, "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": 6987, "t": 34.935, "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": 6987, "t": 34.935, "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": 6987, "t": 34.935, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 6987, "t": 34.935, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 6987, "t": 34.935, "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": 6987, "t": 34.935, "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": 6987, "t": 34.935, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.9166023591298136}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 7571, "t": 37.855, "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": 7571, "t": 37.855, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.920000000001494}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7571, "t": 37.855, "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": 2.920000000001494}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7571, "t": 37.855, "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": 7571, "t": 37.855, "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": 7571, "t": 37.855, "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": 7991, "t": 39.955, "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": 7991, "t": 39.955, "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": 7991, "t": 39.955, "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": 7991, "t": 39.955, "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": 7991, "t": 39.955, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 7991, "t": 39.955, "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": 8571, "t": 42.855, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 10308, "t": 51.54, "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": 10308, "t": 51.54, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 10308, "t": 51.54, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10308, "t": 51.54, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c6_p000_e017/env.mp4 b/episodes/c6_p000_e017/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6547c4b3c06349a0d4b29aa0ecfed616470256d2 --- /dev/null +++ b/episodes/c6_p000_e017/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cdeceda1bac5b3ada0bd6b2318e56f2c7ae82ed7df21fa6f2b597625dbd29b3 +size 1291488 diff --git a/episodes/c6_p000_e017/meta.json b/episodes/c6_p000_e017/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..649197cb0a8593a5ae125d02b5f6c104603c9cee --- /dev/null +++ b/episodes/c6_p000_e017/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/17", + "fps": 25, + "frames": 1196, + "kept_ticks": "even", + "video_frames": { + "wrist": 1196, + "env": 1196 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e017/scene_snapshot.json b/episodes/c6_p000_e017/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..52e3dbfc48e5fb05132028d9e23187a72a1af433 --- /dev/null +++ b/episodes/c6_p000_e017/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 17, + "env_id": 2, + "run_id": "c6_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46108436584472656, + 0.05295372009277344, + 0.8999999761581421 + ], + "ori": [ + 0.7118666768074036, + 0.0, + 0.0, + -0.7023146152496338 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.382663498948448e-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": 0.21084452446138982, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.05748836566119778, + "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": 0.21084452446138982, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2872123718261719, + 0.5461015701293945, + 0.8999999761581421 + ], + "ori": [ + -0.9253563284873962, + 9.541840206850338e-09, + 1.5439093559166395e-08, + 0.37909847497940063 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.602421470132015e-11, + 3.967420836303859e-11, + 0.0 + ], + "angular_velocity": [ + -1.5613403903103062e-09, + 3.7995746993146895e-08, + -7.62810703491823e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.448801040649414, + 0.46770477294921875, + 0.8999999761581421 + ], + "ori": [ + 0.9904267191886902, + -4.999431979513247e-09, + 1.1222395812637842e-07, + 0.13803943991661072 + ], + "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": [ + 8.751673163942542e-09, + -7.712901606282685e-08, + 0.0 + ], + "angular_velocity": [ + 2.3337863694905536e-06, + 6.364396085700719e-07, + -5.268707354844082e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1109619140625, + 1.1499948501586914, + 0.8999999761581421 + ], + "ori": [ + 7.507963891839609e-05, + 1.1455481702116188e-10, + -2.976337620808067e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.6062386976045673e-09, + -1.6527714752356815e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 1.1599950511254065e-07, + -1.5651312423869967e-07, + -1.1029687385644138e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.09278488159179688, + 0.45000553131103516, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 7.016527359127167e-09, + -2.831974238448609e-11, + -0.00010954860044876114 + ], + "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": [ + -7.619711084316805e-09, + -9.211052365287742e-09, + 5.960464477539063e-08 + ], + "angular_velocity": [ + 4.223699079375365e-07, + -6.899816753502819e-07, + -6.153089771032683e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.2831621170043945, + 0.5422945022583008, + 0.9179999828338623 + ], + "ori": [ + -0.8969584107398987, + 6.801021967817178e-09, + 1.6117471801635475e-08, + 0.44211506843566895 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.8800857759515566e-08, + 8.168053255985797e-08, + 8.940696716308594e-08 + ], + "angular_velocity": [ + -1.296889081459085e-06, + -1.8671468069442199e-06, + 4.023794986096618e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.4427509307861328, + 0.46225643157958984, + 0.9180000424385071 + ], + "ori": [ + 0.9868924617767334, + -4.1822545426839497e-07, + 3.999429054601933e-08, + 0.16137945652008057 + ], + "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": [ + 3.5244615901319776e-06, + -9.662538786869845e-07, + -6.318092346191406e-06 + ], + "angular_velocity": [ + -6.509706872748211e-05, + -2.0736217265948653e-05, + -3.653958992799744e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.09717273712158203, + 1.146575927734375, + 0.9180000424385071 + ], + "ori": [ + 0.036566391587257385, + -1.0043590403796543e-09, + -3.7553280485269624e-09, + 0.9993312954902649 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.118240498092064e-09, + -8.260771622303764e-09, + -5.166977643966675e-06 + ], + "angular_velocity": [ + -4.1713516907293524e-07, + 1.7702608374747797e-06, + -3.071922094477486e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.0882425308227539, + 0.45906543731689453, + 0.9179999828338623 + ], + "ori": [ + 0.9981788396835327, + 8.831461784097883e-09, + -2.7368280974826575e-09, + 0.06032443791627884 + ], + "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": [ + -1.4071926557335246e-07, + -1.2093845214167231e-07, + -1.1064112186431885e-06 + ], + "angular_velocity": [ + 4.801374416274484e-06, + -4.720006472780369e-06, + 1.4499801181955263e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 3.9199999999999386, + "step": 784, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.382663498948448e-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": 0.21084452446138982, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 654, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.4372123777866364, + 0.09610158205032349, + 0.0 + ], + "carrier_2": [ + 1.2988010346889496, + 0.017704784870147705, + 0.0 + ], + "carrier_3": [ + -0.03903809189796448, + 0.6999948620796204, + 0.0 + ], + "carrier_4": [ + -0.0572151243686676, + 5.543231964111328e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.011638165219638341, + -0.2854807834127004, + 3.0795878886587302 + ], + "ori": [ + -8.57445699697438, + 13.446934568655958, + -9.456149039874195 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6851.981536353935, + "color": [ + 0.9913638294915891, + 0.9516350030598604, + 0.8489132878677383 + ], + "intensity": 10566.21318847832, + "width": 1.8640612255992526, + "height": 1.7550508929069122 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.8715140749991575, + 0.1491070706334201, + 2.451264126289352 + ], + "ori": [ + -15.849215276998372, + -11.896140864006046, + -6.038558641326894 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 2960.8570506566593, + "color": [ + 0.8672818873131677, + 0.9749954468306179, + 0.8643345405423484 + ], + "intensity": 1738.8147827402404, + "radius": 0.12350204522967685 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1274.3404505210538, + "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": [ + [ + 1.3443571329116821, + -1.6124603748321533, + 2.1098437309265137, + -2.067549705505371, + -1.570547342300415, + 6.0386223793029785, + 0.017999963834881783, + 0.018000034615397453 + ], + [ + 0.923507571220398, + -1.7446422576904297, + 2.237373113632202, + -2.063204050064087, + -1.5710819959640503, + 5.648149490356445, + 0.007785412948578596, + 0.007232696749269962 + ], + [ + 0.9141027331352234, + -1.7193976640701294, + 2.090498924255371, + -1.941900372505188, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.9394367933273315, + -2.2055201530456543, + 2.3474130630493164, + -1.713003396987915, + -1.5705556869506836, + 3.4579086303710938, + 0.007384094875305891, + 0.007832195609807968 + ] + ], + "joint_vel": [ + [ + 0.0005174615071155131, + -0.00014089694013819098, + -0.002903272397816181, + 0.002964430022984743, + -2.955785021185875e-05, + 0.00047636893577873707, + -5.193051947571803e-06, + 5.193095603317488e-06 + ], + [ + 0.07269122451543808, + 0.02924230694770813, + -0.0119963763281703, + -0.017631830647587776, + 0.00021766990539617836, + 0.06989482045173645, + -0.006947833113372326, + 0.0005131011712364852 + ], + [ + 5.108946879772702e-06, + 3.4059562494803686e-06, + -6.811949333496159e-06, + 1.7800780380966552e-12, + 1.5560708103989906e-13, + 9.553994964953127e-13, + 2.59906585142744e-08, + -2.5990496865802015e-08 + ], + [ + 0.06492603570222855, + -0.052102234214544296, + 0.023375753313302994, + 0.02956167608499527, + 9.02148531167768e-05, + 0.07289019972085953, + -0.0027376278303563595, + 0.00032596723758615553 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05425788089632988, + -0.0018001286080107093, + -0.02963697351515293, + -0.2699182331562042, + 0.6550658345222473, + 0.6468422412872314, + -0.28218430280685425 + ], + [ + 0.05064554512500763, + -0.0013434464344754815, + -0.02704891748726368, + -0.2865228056907654, + 0.6428802013397217, + 0.6515710949897766, + -0.2829573452472687 + ], + [ + 0.051178764551877975, + 0.0033619077876210213, + -0.028290575370192528, + -0.27354127168655396, + 0.654394268989563, + 0.640696108341217, + -0.2940269708633423 + ], + [ + 0.04833652079105377, + -0.0010797135764732957, + -0.029254082590341568, + -0.2847253978252411, + 0.6470508575439453, + 0.6504929661750793, + -0.27769678831100464 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e017/wrist.mp4 b/episodes/c6_p000_e017/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5b314a529a5fab6ecd76dc37fdd48ccd474f40e3 --- /dev/null +++ b/episodes/c6_p000_e017/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:385a12c0e75c96b677e34206eceaf941267ab2e7453b031a65fb82c78b40ef28 +size 6374709 diff --git a/episodes/c6_p000_e018/data.npz b/episodes/c6_p000_e018/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..1a34c79769d9ac8b395eb6909e0972c3749b048d --- /dev/null +++ b/episodes/c6_p000_e018/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e81a487e45e9acafd371cb0b0c53efef46effcb7d4946f06670104b35dc75af3 +size 192915 diff --git a/episodes/c6_p000_e018/device_events.jsonl b/episodes/c6_p000_e018/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15a28daf0a641bf5be050e90aab120ade3b3ef97 --- /dev/null +++ b/episodes/c6_p000_e018/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 169, "t": 0.845, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 169, "t": 0.845, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 174, "t": 0.87, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6646, "t": 33.23, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 7260, "t": 36.3, "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": 7260, "t": 36.3, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.69556386269403}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7260, "t": 36.3, "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": 7260, "t": 36.3, "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": 7260, "t": 36.3, "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": 7679, "t": 38.395, "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": 7679, "t": 38.395, "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": 7679, "t": 38.395, "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": 7679, "t": 38.395, "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": 7679, "t": 38.395, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7679, "t": 38.395, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7679, "t": 38.395, "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": 7679, "t": 38.395, "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": 7679, "t": 38.395, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.69556386269403}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 8619, "t": 43.095, "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": 8619, "t": 43.095, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.7000000000024045}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8619, "t": 43.095, "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": 4.7000000000024045}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8619, "t": 43.095, "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": 8619, "t": 43.095, "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": 8619, "t": 43.095, "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": 9039, "t": 45.195, "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": 9039, "t": 45.195, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.4812431281541194e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 9039, "t": 45.195, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.4812431281541194e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 9039, "t": 45.195, "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": 9039, "t": 45.195, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 9039, "t": 45.195, "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": 9613, "t": 48.065, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 11372, "t": 56.86, "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": 11372, "t": 56.86, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11372, "t": 56.86, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 11372, "t": 56.86, "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_p000_e018/env.mp4 b/episodes/c6_p000_e018/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..539a957c9c1e733d225b6b0bddbba24ae0563e73 --- /dev/null +++ b/episodes/c6_p000_e018/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c38959224c40fff1353f4cebbfc231368ee291ba7235843026c795d1dd7bfb6e +size 1396801 diff --git a/episodes/c6_p000_e018/meta.json b/episodes/c6_p000_e018/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f92c23100aab573aac58ad253ff6b170bd1e7b33 --- /dev/null +++ b/episodes/c6_p000_e018/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/18", + "fps": 25, + "frames": 1284, + "kept_ticks": "even", + "video_frames": { + "wrist": 1284, + "env": 1284 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e018/scene_snapshot.json b/episodes/c6_p000_e018/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..2e8c9b33f75534b9e46152c3ba183dce4206fc63 --- /dev/null +++ b/episodes/c6_p000_e018/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 18, + "env_id": 0, + "run_id": "c6_p000", + "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_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": [ + 0.4785776138305664, + 0.06960201263427734, + 0.8999999761581421 + ], + "ori": [ + -0.706503689289093, + 0.0, + 0.0, + 0.7077093720436096 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.382663932629317e-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": 0.1575272148387137, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2734667600776416, + "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": 0.1575272148387137, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.12363624572753906, + 0.4478282928466797, + 0.8999999761581421 + ], + "ori": [ + 0.9999967217445374, + -1.0192834354327829e-09, + -1.3697589729133597e-09, + -0.002568933879956603 + ], + "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": [ + -4.6284631682880217e-10, + 2.0791062205205435e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.5384583207378455e-07, + -5.0911733495695444e-08, + -3.015449223653377e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6170005798339844, + 1.1523151397705078, + 0.8999999761581421 + ], + "ori": [ + -0.013766677118837833, + -1.521804335880006e-07, + -3.336073461923661e-08, + 0.9999052882194519 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.150617958335715e-09, + 5.691862980938822e-08, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.7056254364433698e-06, + 1.2606886912180926e-07, + 7.635833298991201e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3955011367797852, + 0.7604694366455078, + 0.8999999761581421 + ], + "ori": [ + -0.7422244548797607, + 3.4077746846605805e-08, + 4.860853408672483e-08, + 0.6701513528823853 + ], + "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": [ + 1.3132733789333884e-10, + -3.228945444355702e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 3.069671095090598e-08, + 2.558000034014185e-08, + 3.2713798336914124e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5267133712768555, + 0.5010442733764648, + 0.8999999761581421 + ], + "ori": [ + 0.9642173051834106, + -1.4088574751269789e-08, + 2.4671880538562618e-08, + 0.26511314511299133 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.214746412463001e-10, + -4.2580898806932055e-09, + -7.450580596923828e-09 + ], + "angular_velocity": [ + 4.039330647742645e-08, + -1.0699854868789771e-07, + 4.682972232217253e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -0.1165609359741211, + 0.4381275177001953, + 0.9179999828338623 + ], + "ori": [ + 0.9966699481010437, + -2.351785877152679e-09, + -1.4645190615780734e-09, + 0.08154156059026718 + ], + "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": [ + -3.835781114958081e-08, + 1.9555827179829066e-08, + 1.1548399925231934e-07 + ], + "angular_velocity": [ + -3.679649580590194e-07, + -1.7869515431812033e-06, + 2.2405745880860195e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.6241703033447266, + 1.146031379699707, + 0.9180000424385071 + ], + "ori": [ + 0.08417727798223495, + -1.6517105905222706e-07, + -1.4108161394688068e-07, + 0.9964508414268494 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.66603125914844e-07, + 3.521434564390802e-06, + -5.498528480529785e-06 + ], + "angular_velocity": [ + -7.706029282417148e-05, + -4.5499114094127435e-06, + -2.2149542928673327e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.3921184539794922, + 0.7698974609375, + 0.9180000424385071 + ], + "ori": [ + -0.6852309703826904, + 3.099573930853694e-08, + 5.123440516285882e-08, + 0.7283259034156799 + ], + "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": [ + -5.8767337662857244e-09, + 3.023905748023026e-08, + -5.81890344619751e-06 + ], + "angular_velocity": [ + -1.8283417375641875e-06, + -5.524103698917315e-07, + 6.413814901407022e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.5286989212036133, + 0.5043392181396484, + 0.9179999828338623 + ], + "ori": [ + 0.9447338581085205, + -1.2980901686887591e-08, + 2.4822762512144436e-08, + 0.32783830165863037 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.02208157071982e-08, + -1.0912702919085859e-07, + -1.7695128917694092e-06 + ], + "angular_velocity": [ + 3.021724751306465e-06, + -2.59536591329379e-06, + 2.723852503550006e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 5.779999999999899, + "step": 1156, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.382663932629317e-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": 0.1575272148387137, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 986, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.27363625168800354, + -0.0021716952323913574, + 0.0 + ], + "carrier_2": [ + 0.4670005738735199, + 0.7023151516914368, + 0.0 + ], + "carrier_3": [ + -1.5455011427402496, + 0.31046944856643677, + 0.0 + ], + "carrier_4": [ + 1.376713365316391, + 0.0510442852973938, + 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": [ + -0.2715398126138492, + 0.5369447480111869, + 2.986820849046414 + ], + "ori": [ + 0.9080464268617217, + -11.590370787797236, + -15.155213891083614 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3644.017118828232, + "color": [ + 0.822419732428219, + 0.8818114972140867, + 0.9767063637423815 + ], + "intensity": 5768.864369573394, + "width": 1.6110508350656447, + "height": 1.032460054066886 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.7409923308330045, + -0.36320547441288265, + 2.485012469908174 + ], + "ori": [ + 31.850050435956362, + 10.668755743756336, + -38.30816452699783 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7005.915892546543, + "color": [ + 0.810985683305302, + 0.9205248870732607, + 0.8550655690403509 + ], + "intensity": 9413.064176633694, + "radius": 0.3314550108055168 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 416.9819617752422, + "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": [ + [ + 0.9141046404838562, + -1.7193962335586548, + 2.090498447418213, + -1.9419013261795044, + -1.5707999467849731, + 2.484901189804077, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141013622283936, + -1.7193994522094727, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.8698253035545349, + -1.3783384561538696, + 1.9526736736297607, + -2.1451053619384766, + -1.5707772970199585, + 2.31998610496521, + 0.007812390103936195, + 0.007255309261381626 + ], + [ + 2.5320873260498047, + -2.2232418060302734, + 2.409093141555786, + -1.7568742036819458, + -1.5704668760299683, + 4.100243091583252, + 0.01799996942281723, + 0.018000029027462006 + ] + ], + "joint_vel": [ + [ + 0.0, + -2.684326497481541e-38, + -1.5071239638312415e-38, + -2.3930805686043324e-37, + 2.3827013190348942e-37, + 3.6677774339751367e-37, + -2.668989285789506e-38, + -3.3334390549827043e-38 + ], + [ + 0.0, + -2.4160773337543056e-38, + -1.3832637530889567e-38, + -3.5501161192235163e-37, + 5.916495113745955e-37, + -2.7085076961455e-36, + -2.5990400942532688e-08, + 2.5990388508034812e-08 + ], + [ + 0.00030932758818380535, + 1.476684701628983e-05, + -7.026931416476145e-05, + 0.00021473281958606094, + 0.0002502325805835426, + 0.0006411743233911693, + -0.006679909769445658, + 0.00031475661671720445 + ], + [ + -0.007296538911759853, + -0.01259076502174139, + 0.00466217752546072, + 0.007730766199529171, + -5.170340955373831e-06, + -0.007316203787922859, + -1.6471893786729197e-06, + 1.6471866501888144e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05165169760584831, + -0.0013072970323264599, + -0.02636842429637909, + -0.2663024365901947, + 0.652083694934845, + 0.650478184223175, + -0.28416183590888977 + ], + [ + 0.04913846775889397, + -0.0008197931456379592, + -0.027505652979016304, + -0.28241580724716187, + 0.6428701877593994, + 0.6536072492599487, + -0.28241246938705444 + ], + [ + 0.0500548854470253, + 0.001759307342581451, + -0.03125348687171936, + -0.278300940990448, + 0.6580265164375305, + 0.6339675784111023, + -0.2960317134857178 + ], + [ + 0.04937203973531723, + -0.0016216617077589035, + -0.028778189793229103, + -0.2820897400379181, + 0.6463902592658997, + 0.6539558172225952, + -0.2737642228603363 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e018/wrist.mp4 b/episodes/c6_p000_e018/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9ff7860b21900b6426f5241496273e40697b766f --- /dev/null +++ b/episodes/c6_p000_e018/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57c97a728624403c42ecc6ba0ade143085a0d6954989e32040f4f7bcee0482d2 +size 7698191 diff --git a/episodes/c6_p000_e019/data.npz b/episodes/c6_p000_e019/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..0e99aef4c77a5d304d064a77a948ca466a48f8b5 --- /dev/null +++ b/episodes/c6_p000_e019/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05176b6f3f38be12e505333de5afed8b18b475fcc50de128d2a582e7dd89dd92 +size 209050 diff --git a/episodes/c6_p000_e019/device_events.jsonl b/episodes/c6_p000_e019/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a817a6a3e3ef766fe2bcc1e20f631b4429ba4da --- /dev/null +++ b/episodes/c6_p000_e019/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 50, "t": 0.25, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 50, "t": 0.25, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 55, "t": 0.275, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 5550, "t": 27.75, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6164, "t": 30.82, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 6164, "t": 30.82, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.469856798043004}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6164, "t": 30.82, "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": 6164, "t": 30.82, "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": 6164, "t": 30.82, "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": 6583, "t": 32.915, "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": 6583, "t": 32.915, "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": 6583, "t": 32.915, "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": 6583, "t": 32.915, "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": 6583, "t": 32.915, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 6583, "t": 32.915, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6583, "t": 32.915, "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": 6583, "t": 32.915, "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": 6583, "t": 32.915, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.469856798043004}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7477, "t": 37.385, "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": 7477, "t": 37.385, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.470000000002287}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7477, "t": 37.385, "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": 4.470000000002287}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7477, "t": 37.385, "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": 7477, "t": 37.385, "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": 7477, "t": 37.385, "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": 7897, "t": 39.485, "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": 7897, "t": 39.485, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.241495530852511e-11}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 7897, "t": 39.485, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.241495530852511e-11}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 7897, "t": 39.485, "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": 7897, "t": 39.485, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 7897, "t": 39.485, "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": 8479, "t": 42.395, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10748, "t": 53.74, "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": 10748, "t": 53.74, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10748, "t": 53.74, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10748, "t": 53.74, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c6_p000_e019/env.mp4 b/episodes/c6_p000_e019/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e90a86fbf57289b13fe8af7ddb1bca133ce95ae4 --- /dev/null +++ b/episodes/c6_p000_e019/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12ddcc026add9ac8ae9be70d4f6fd1aeec42794cbc017b8f3f37d997bf3c9d69 +size 1430058 diff --git a/episodes/c6_p000_e019/meta.json b/episodes/c6_p000_e019/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e39209c532e954270d77af00e697b6be786f0795 --- /dev/null +++ b/episodes/c6_p000_e019/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/19", + "fps": 25, + "frames": 1314, + "kept_ticks": "even", + "video_frames": { + "wrist": 1314, + "env": 1314 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e019/scene_snapshot.json b/episodes/c6_p000_e019/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..3c750e7a17f85dcc63a7d4353e5a98a0c4209622 --- /dev/null +++ b/episodes/c6_p000_e019/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 19, + "env_id": 1, + "run_id": "c6_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5073986053466797, + 0.06928730010986328, + 0.8999999761581421 + ], + "ori": [ + -0.6957700252532959, + 0.0, + 0.0, + 0.718264639377594 + ], + "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": 0.27606336557651734, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.14400480048419645, + "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": 0.27606336557651734, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.006084442138671875, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -8.402849971389514e-09, + -8.132196427368399e-08, + -1.6836400391184725e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.7564809101932042e-08, + -3.3369491347912117e-07, + -7.078051567077637e-08 + ], + "angular_velocity": [ + 1.0653131539584137e-05, + 3.489004996026779e-07, + 4.7366274884552695e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6694068908691406, + 0.940251350402832, + 0.8999999761581421 + ], + "ori": [ + 0.5484006404876709, + 3.66147556718488e-10, + -1.0275692119421365e-07, + 0.8362157940864563 + ], + "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": [ + -1.7478938296733304e-09, + -2.4231021633625005e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 1.6690583493073063e-07, + -8.126903594529722e-10, + 2.1069617162083887e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1422805786132812, + 1.1341485977172852, + 0.8999999761581421 + ], + "ori": [ + -0.12656699120998383, + 1.7271371888227804e-08, + 2.5707606710057007e-08, + 0.9919581413269043 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.9257001548922403e-10, + -5.670000025048694e-10, + 0.0 + ], + "angular_velocity": [ + 9.993428307097929e-09, + -1.759475587448378e-08, + -1.813929006999615e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.040238380432128906, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + 1.2443615560187027e-05, + 1.6825353610361304e-10, + 5.512126755036206e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.3539348248391434e-09, + -1.2658544212840184e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 8.889197289363437e-08, + -2.305547610603753e-07, + -9.61134727361923e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.013129234313964844, + 0.44118690490722656, + 0.9180000424385071 + ], + "ori": [ + 0.999660313129425, + -4.933974651066819e-07, + -5.177525963517837e-09, + 0.02606293000280857 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5032296687422786e-06, + -8.145651008817367e-06, + -3.98978590965271e-06 + ], + "angular_velocity": [ + 5.364714888855815e-05, + -6.4464220486115664e-06, + -4.172951594227925e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.6682767868041992, + 0.9513378143310547, + 0.9180000424385071 + ], + "ori": [ + 0.6010803580284119, + -8.360645864513572e-08, + -1.8554324299202563e-07, + 0.7991886138916016 + ], + "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": [ + 2.588365362043987e-07, + 1.627604149234685e-07, + -5.27501106262207e-06 + ], + "angular_velocity": [ + -9.48638808040414e-06, + 4.8472040361957625e-05, + -3.4597462672536494e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.1416826248168945, + 1.1345767974853516, + 0.9179999828338623 + ], + "ori": [ + -0.07397928833961487, + 1.594851184449908e-08, + 2.7238948874241942e-08, + 0.997259795665741 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.3910558866191423e-08, + 1.965577922646844e-08, + -5.81890344619751e-06 + ], + "angular_velocity": [ + -4.562751030334766e-07, + 1.7388942978868727e-06, + 1.1904052854561087e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -0.040180206298828125, + 1.1460762023925781, + 0.9179999828338623 + ], + "ori": [ + 0.02109229750931263, + -1.2352071587784508e-09, + 1.053875742229593e-08, + 0.9997775554656982 + ], + "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": [ + 2.9753806529697613e-08, + 2.101812768273703e-08, + 2.086162567138672e-07 + ], + "angular_velocity": [ + -1.2840495173804811e-06, + 2.3030140710034175e-06, + -4.0529975819936226e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 1.359999999999993, + "step": 272, + "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": 0.27606336557651734, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 221, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.1439155638217926, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_2": [ + 1.5194068849086761, + 0.490251362323761, + 0.0 + ], + "carrier_3": [ + -1.2922805845737457, + 0.6841486096382141, + 0.0 + ], + "carrier_4": [ + -0.19023838639259338, + 0.7000005841255188, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.1469071572402113, + -0.39127202087745183, + 3.0379691625481864 + ], + "ori": [ + -3.401147386136511, + 0.6316511590984462, + -2.735338038593408 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6702.101772199214, + "color": [ + 0.9094720607477504, + 0.991059410650921, + 0.8805225193766942 + ], + "intensity": 9154.20462364953, + "width": 2.0871824552365514, + "height": 1.651232316792149 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.4030857143820288, + 1.3596035491778096, + 2.3582607614126037 + ], + "ori": [ + -30.12411998559231, + 19.756536743472104, + 11.159126652524463 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4124.5399725167135, + "color": [ + 0.7995219301857819, + 0.7714503478085235, + 0.830247374841319 + ], + "intensity": 7521.748996254356, + "radius": 0.09961348688218064 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 416.9819617752422, + "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": [ + [ + 0.92117840051651, + -1.7151470184326172, + 2.091301202774048, + -1.946943759918213, + -1.5707992315292358, + 2.4883270263671875, + 0.01800038293004036, + 0.017999619245529175 + ], + [ + 0.9141013622283936, + -1.7193994522094727, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.8698253035545349, + -1.3783382177352905, + 1.9526745080947876, + -2.145106077194214, + -1.5707772970199585, + 2.319986343383789, + 0.007816008292138577, + 0.007251002825796604 + ], + [ + 2.5261435508728027, + -2.233268976211548, + 2.4128458499908447, + -1.7505910396575928, + -1.570464849472046, + 4.094298839569092, + 0.017999989911913872, + 0.018000008538365364 + ] + ], + "joint_vel": [ + [ + 0.009548917412757874, + 0.005818044301122427, + 0.00118406699039042, + -0.006683581508696079, + 1.7815145838540047e-05, + 0.004557852633297443, + 1.4953715435694903e-05, + -1.4986521819082554e-05 + ], + [ + 0.0, + -2.4160773337543056e-38, + -1.3832637530889567e-38, + -3.5501161192235163e-37, + 5.916495113745955e-37, + -2.7085076961455e-36, + -2.5990400942532688e-08, + 2.5990388508034812e-08 + ], + [ + 0.00030612904811277986, + 4.432108198670903e-06, + -7.193622877821326e-05, + 0.00021148704399820417, + 0.00025634653866291046, + 0.0006447455380111933, + -0.006776193156838417, + 0.00032621019636280835 + ], + [ + -5.447669173008762e-05, + -8.478909148834646e-05, + 3.536111398716457e-05, + 6.160436169011518e-05, + -9.560853442280859e-08, + -5.450742901302874e-05, + 7.169659710370979e-08, + -7.169756344183043e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.052417363971471786, + -2.195369006585679e-06, + -0.02587350830435753, + -0.27357691526412964, + 0.6509125828742981, + 0.6478355526924133, + -0.2859679162502289 + ], + [ + 0.05080835148692131, + 0.0012277390342205763, + -0.027685323730111122, + -0.2863507568836212, + 0.6476129293441772, + 0.6471049785614014, + -0.28258782625198364 + ], + [ + 0.050369128584861755, + 0.00045123600284568965, + -0.03118443302810192, + -0.2781495451927185, + 0.6535985469818115, + 0.6392154097557068, + -0.2946954369544983 + ], + [ + 0.049340832978487015, + -0.0014727619709447026, + -0.028621235862374306, + -0.2799389958381653, + 0.6461238265037537, + 0.6538108587265015, + -0.27692869305610657 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e019/wrist.mp4 b/episodes/c6_p000_e019/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..74e9a641a1183b8c0e626a00bf620fb86e528947 --- /dev/null +++ b/episodes/c6_p000_e019/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab5ded4f0c008d31eba0eb8b886859beb095d0bee504c4da80fe3c13b4f5ef2a +size 7568350 diff --git a/episodes/c6_p000_e020/data.npz b/episodes/c6_p000_e020/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..e618e54c30a751dba766493a0219d785bd0fe045 --- /dev/null +++ b/episodes/c6_p000_e020/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1eae76eb2084c5c42878e875dfebeebbb961653215691a3003dcb6e5f1962818 +size 188372 diff --git a/episodes/c6_p000_e020/device_events.jsonl b/episodes/c6_p000_e020/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2623c0358faef9193111364117ddf7adf4863f7e --- /dev/null +++ b/episodes/c6_p000_e020/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 82, "t": 0.41, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 82, "t": 0.41, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 87, "t": 0.435, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 5449, "t": 27.245, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6056, "t": 30.28, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 6056, "t": 30.28, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.705585785666422}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6056, "t": 30.28, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 6056, "t": 30.28, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6056, "t": 30.28, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 6475, "t": 32.375, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 6475, "t": 32.375, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 6475, "t": 32.375, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 6475, "t": 32.375, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 6475, "t": 32.375, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 6475, "t": 32.375, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 6475, "t": 32.375, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 6475, "t": 32.375, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 6475, "t": 32.375, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.705585785666422}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7017, "t": 35.085, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7017, "t": 35.085, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.7100000000013864}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7017, "t": 35.085, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.7100000000013864}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7017, "t": 35.085, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 7017, "t": 35.085, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7017, "t": 35.085, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 7437, "t": 37.185, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 7437, "t": 37.185, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 6.8322441038048964e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 7437, "t": 37.185, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 6.8322441038048964e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 7437, "t": 37.185, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 7437, "t": 37.185, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 7437, "t": 37.185, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8014, "t": 40.07, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 9732, "t": 48.66, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 9732, "t": 48.66, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 9732, "t": 48.66, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 9732, "t": 48.66, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c6_p000_e020/env.mp4 b/episodes/c6_p000_e020/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..33e7d86df3ceb1e990017087bfdca3f9c89e3a81 --- /dev/null +++ b/episodes/c6_p000_e020/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a59688be0937c39e283895c9db22b8c45088f81e3baef30c43903e7d4fc6e6f +size 1194573 diff --git a/episodes/c6_p000_e020/meta.json b/episodes/c6_p000_e020/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..39fa1ada14287aacdb30c44f28d017b3e56ea145 --- /dev/null +++ b/episodes/c6_p000_e020/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/20", + "fps": 25, + "frames": 1178, + "kept_ticks": "even", + "video_frames": { + "wrist": 1178, + "env": 1178 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e020/scene_snapshot.json b/episodes/c6_p000_e020/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..3b229315ecc9cddbb596f28353cb8a198b0abaac --- /dev/null +++ b/episodes/c6_p000_e020/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 20, + "env_id": 3, + "run_id": "c6_p000", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 0.5043811798095703, + 0.1029367446899414, + 0.8999999761581421 + ], + "ori": [ + -0.6904402375221252, + 0.0, + 0.0, + 0.7233894467353821 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.382665667352793e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2072621430383989, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.208033601063308, + "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": 0.2072621430383989, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.05767631530761719, + 0.4499988555908203, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 7.312346839150052e-10, + -5.307796979714396e-10, + 2.8701708743028576e-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": [ + -7.692211312360087e-10, + 1.579245623162251e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.1638009311809583e-07, + -7.904517929091526e-08, + -3.5754967875334387e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.669550895690918, + 0.6643495559692383, + 0.8999999761581421 + ], + "ori": [ + 0.8367201089859009, + -1.0075744683035737e-08, + 6.738097191316683e-09, + 0.547630786895752 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3151104649722356e-09, + -1.8463588435935208e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 5.329128427433716e-08, + 8.875751689174649e-08, + -3.6934757474682556e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.056443214416503906, + 1.149993896484375, + 0.8999999761581421 + ], + "ori": [ + 2.4466116883559152e-05, + -6.463257928857047e-09, + 1.59713797742711e-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": [ + -1.30764865602373e-09, + -9.8900698741744e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 7.812996472011946e-08, + -1.2766402335273597e-07, + -4.754498128534124e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.069838523864746, + 1.1468400955200195, + 0.8999999761581421 + ], + "ori": [ + -0.031093381345272064, + -3.800444758894628e-08, + -1.5098009953362634e-08, + 0.999516487121582 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.2252910625297773e-10, + -5.285863302617599e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.2193480358746456e-07, + 6.749027647856565e-08, + 3.7504371164232e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -0.06867218017578125, + 0.4412670135498047, + 0.9179999828338623 + ], + "ori": [ + 0.9992249011993408, + -1.327516541138607e-09, + -5.942732417274499e-10, + 0.03936690837144852 + ], + "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": [ + -2.8505736437978157e-08, + 1.675599747841261e-08, + 1.0058283805847168e-07 + ], + "angular_velocity": [ + -2.8189035106152005e-07, + -1.5235785895129084e-06, + 1.5700973676757712e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 1.6703224182128906, + 0.6745052337646484, + 0.9180000424385071 + ], + "ori": [ + 0.8741180300712585, + -1.1753291673244348e-08, + 5.344721998312707e-09, + 0.4857136309146881 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.628192691782715e-08, + -2.6595509794447025e-08, + -5.234032869338989e-06 + ], + "angular_velocity": [ + 1.7183882619065116e-06, + -5.771669009391189e-08, + -2.7716691164414442e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.045350074768066406, + 1.1502790451049805, + 0.9180000424385071 + ], + "ori": [ + -0.08133816719055176, + -5.881902520599169e-09, + -2.6947999387516575e-10, + 0.9966866374015808 + ], + "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": [ + 6.479625724864491e-10, + -2.594422454649248e-10, + -4.909932613372803e-06 + ], + "angular_velocity": [ + -7.786685500832391e-07, + 1.3920980563852936e-06, + -8.873398371633812e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.0758094787597656, + 1.1372404098510742, + 0.9179999828338623 + ], + "ori": [ + 0.018063463270664215, + -3.5689573962827126e-08, + -1.0543522677153305e-07, + 0.9998369216918945 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.2829073031971348e-07, + 4.376988727017306e-08, + -1.7583370208740234e-06 + ], + "angular_velocity": [ + -1.1878699297085404e-05, + 4.59755119663896e-06, + 2.2300441742117982e-06 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 1.739999999999985, + "step": 348, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.382665667352793e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2072621430383989, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 265, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.20767632126808167, + -1.1324882507324219e-06, + 0.0 + ], + "carrier_2": [ + 1.5195508897304535, + 0.21434956789016724, + 0.0 + ], + "carrier_3": [ + -0.09355679154396057, + 0.699993908405304, + 0.0 + ], + "carrier_4": [ + -1.2198385298252106, + 0.6968401074409485, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.002155383007113265, + -0.30469552118529, + 2.7791184081566573 + ], + "ori": [ + -0.4801176940938987, + 6.289341011697097, + 24.8384949206543 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3935.720949624219, + "color": [ + 0.8768537557428085, + 0.8416845322212964, + 0.9846920108050194 + ], + "intensity": 13193.502770413184, + "width": 1.8669899558082674, + "height": 1.871856086572618 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.4715599265378363, + 0.039026767572960974, + 1.884284952123294 + ], + "ori": [ + 2.1587501475379227, + 5.195915930803245, + 20.087942285741605 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7109.635100400863, + "color": [ + 0.9420395433753925, + 0.7576214631451962, + 0.8153157253493453 + ], + "intensity": 5608.323300234906, + "radius": 0.4331175572190652 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 416.9819617752422, + "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": [ + [ + -0.06868566572666168, + -2.0983896255493164, + 2.2938477993011475, + -1.7664235830307007, + -1.5707026720046997, + 4.650580406188965, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + -0.13277386128902435, + -2.2654712200164795, + 2.3560421466827393, + -1.661428451538086, + -1.571563720703125, + 4.574545860290527, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.2021758556365967, + -1.596850037574768, + 2.200148344039917, + -2.1752212047576904, + -1.570756196975708, + 5.910152435302734, + 0.007060193456709385, + 0.007998460903763771 + ], + [ + 0.9141008853912354, + -1.719397783279419, + 2.0904996395111084, + -1.9419009685516357, + -1.5707999467849731, + 2.4849002361297607, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 6.386137556546601e-07, + -6.81183701090049e-06, + -1.3623865015688352e-05, + -3.4059632980643073e-06, + 6.811954335717019e-06, + -1.362391503789695e-05, + -2.5993694308112936e-08, + 2.5988008189870015e-08 + ], + [ + -1.2772326272170176e-06, + -6.811857019783929e-06, + -6.811921139160404e-06, + 4.913916495929982e-12, + -1.9750968574408848e-14, + -1.691889358647336e-13, + -1.6478257560542664e-13, + -3.7010444622204153e-13 + ], + [ + 0.048062462359666824, + 0.01980053260922432, + -0.006331983022391796, + -0.010609106160700321, + -0.0012942987959831953, + 0.059578217566013336, + -0.0063830288127064705, + 0.0005417898064479232 + ], + [ + 2.8265198960325874e-38, + -1.6420210815382415e-38, + 1.5538583886552456e-38, + -5.007288276956664e-37, + 4.23503964370764e-37, + -2.895051014001717e-37, + 2.5990388508034812e-08, + -2.5990388508034812e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05472639948129654, + 0.0021236741449683905, + -0.02687135897576809, + -0.2717585265636444, + 0.6540059447288513, + 0.6483412384986877, + -0.2794228494167328 + ], + [ + 0.04704079404473305, + 0.001127823255956173, + -0.026093419641256332, + -0.28481006622314453, + 0.641512930393219, + 0.6552634239196777, + -0.2792387306690216 + ], + [ + 0.050295501947402954, + 0.0008438659715466201, + -0.028957827016711235, + -0.2802351713180542, + 0.6521632075309753, + 0.6406515836715698, + -0.292774498462677 + ], + [ + 0.048984281718730927, + -0.002916880650445819, + -0.029457904398441315, + -0.2837984561920166, + 0.6454117298126221, + 0.6529486775398254, + -0.27669498324394226 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e020/wrist.mp4 b/episodes/c6_p000_e020/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2298bc2a322a52fac38751f464870cec6d953acd --- /dev/null +++ b/episodes/c6_p000_e020/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25ef9750d18ce7c9c5bdecdb37d0b25b6c7f9721b4352b73bac5cda1fe2e6614 +size 7496617 diff --git a/episodes/c6_p000_e021/data.npz b/episodes/c6_p000_e021/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..43a609edb66735113821afe003963a7fbe8fecad --- /dev/null +++ b/episodes/c6_p000_e021/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9d34a44900b4920be6c2afd5ada5d7dd70e3cb0b7aee380be4e3a3200a257f8 +size 183759 diff --git a/episodes/c6_p000_e021/device_events.jsonl b/episodes/c6_p000_e021/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..59fee4a3a245316ec276590e18e41c204d027412 --- /dev/null +++ b/episodes/c6_p000_e021/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 76, "t": 0.38, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 76, "t": 0.38, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 81, "t": 0.405, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 5983, "t": 29.915, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6596, "t": 32.98, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 6, "step": 6596, "t": 32.98, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.1646024247567466}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6596, "t": 32.98, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 8, "step": 6596, "t": 32.98, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 6596, "t": 32.98, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 7015, "t": 35.075, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 7015, "t": 35.075, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 7015, "t": 35.075, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7015, "t": 35.075, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7015, "t": 35.075, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7015, "t": 35.075, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7015, "t": 35.075, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 17, "step": 7015, "t": 35.075, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 7015, "t": 35.075, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.1646024247567466}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7448, "t": 37.24, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 7448, "t": 37.24, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.1650000000011076}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7448, "t": 37.24, "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": 2.1650000000011076}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7448, "t": 37.24, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 23, "step": 7448, "t": 37.24, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 7448, "t": 37.24, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 7868, "t": 39.34, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 7868, "t": 39.34, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 9.563907443776998e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 7868, "t": 39.34, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 9.563907443776998e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 7868, "t": 39.34, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 7868, "t": 39.34, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 7868, "t": 39.34, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8447, "t": 42.235, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 10168, "t": 50.84, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 33, "step": 10168, "t": 50.84, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10168, "t": 50.84, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10168, "t": 50.84, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c6_p000_e021/env.mp4 b/episodes/c6_p000_e021/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3b77467936c7c2890ce2644f42479947e4e57592 --- /dev/null +++ b/episodes/c6_p000_e021/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fd65c9213fefbd00b24671707b7d4190c8ce0dd6698900de8b645e1dbb24f57 +size 1275243 diff --git a/episodes/c6_p000_e021/meta.json b/episodes/c6_p000_e021/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..29cd9323d32fbfdfd81d10f19f365c11d1a96690 --- /dev/null +++ b/episodes/c6_p000_e021/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/21", + "fps": 25, + "frames": 1172, + "kept_ticks": "even", + "video_frames": { + "wrist": 1172, + "env": 1172 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e021/scene_snapshot.json b/episodes/c6_p000_e021/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..a4155f25b8c5d27c6612968a62cefb63b4d6315b --- /dev/null +++ b/episodes/c6_p000_e021/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 21, + "env_id": 2, + "run_id": "c6_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46108436584472656, + 0.05295372009277344, + 0.8999999761581421 + ], + "ori": [ + 0.7118666768074036, + 0.0, + 0.0, + -0.7023146152496338 + ], + "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": [ + 2.6913332673572654e-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": 0.2831952633593305, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.26224890015895286, + "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": 0.2831952633593305, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.11171245574951172, + 0.45000457763671875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.1911789716000385e-08, + -1.2338405852574397e-08, + -4.6012730308575556e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9150800056877415e-08, + 1.194937055970513e-07, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -4.5730221245321445e-06, + 9.982591109292116e-07, + 2.5931788627531205e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5808515548706055, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + -1.074816964319325e-06, + 7.159310921878159e-10, + 8.528275863284307e-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": [ + -7.181644168241519e-10, + -2.557443146145033e-11, + 0.0 + ], + "angular_velocity": [ + 9.12892517135333e-09, + -4.276661158542083e-08, + -5.096210120569822e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3972930908203125, + 0.8132476806640625, + 0.8999999761581421 + ], + "ori": [ + -0.6878904700279236, + 6.844021527285804e-08, + 1.0152396612284065e-07, + 0.7258145213127136 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.6456699825084797e-07, + 1.123219135479303e-06, + -2.644956111907959e-06 + ], + "angular_velocity": [ + -9.585888619767502e-05, + -1.6112253433675505e-06, + -2.3233571937453235e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6548128128051758, + 0.633784294128418, + 0.8999999761581421 + ], + "ori": [ + 0.8647894859313965, + -5.0709228816003815e-08, + 4.896932281894806e-08, + 0.5021345615386963 + ], + "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": [ + -2.1850066200812535e-10, + -1.531337723292836e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.8113681221620936e-08, + 3.709814322405691e-08, + -7.2381212135042006e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -0.12229061126708984, + 0.4599895477294922, + 0.9179999828338623 + ], + "ori": [ + 0.9988278746604919, + 1.4003327919454023e-07, + -7.287474090844626e-08, + -0.04840496554970741 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5023869082142483e-07, + 4.1893854358932e-06, + 1.0505318641662598e-06 + ], + "angular_velocity": [ + -3.8717753341188654e-05, + 1.6000158211681992e-06, + 1.7658794604358263e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.5890541076660156, + 1.139963150024414, + 0.9180000424385071 + ], + "ori": [ + 0.09332121908664703, + -7.21045889662264e-10, + -4.696745214971543e-10, + 0.9956360459327698 + ], + "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": [ + 7.467166440733308e-09, + 9.40176825281469e-10, + -5.6587159633636475e-06 + ], + "angular_velocity": [ + 2.2635535401605011e-07, + 8.437486371803971e-07, + -7.980581528954644e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -1.3899688720703125, + 0.8146400451660156, + 0.9179999828338623 + ], + "ori": [ + -0.6103561520576477, + -6.74484894602756e-08, + 2.8879580327156873e-07, + 0.7921271920204163 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.144888862356311e-06, + 6.22438619757304e-07, + -2.857297658920288e-06 + ], + "angular_velocity": [ + -8.466016151942313e-05, + 3.561318953870796e-05, + 1.9551656805560924e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.6597776412963867, + 0.6365261077880859, + 0.9179999828338623 + ], + "ori": [ + 0.881479799747467, + -2.1437067232454865e-07, + 8.835952058916519e-08, + 0.47222185134887695 + ], + "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": [ + -1.4675761406124366e-07, + -2.1472660591825843e-06, + -2.462416887283325e-06 + ], + "angular_velocity": [ + 8.025589340832084e-05, + 2.8009744710288942e-05, + 3.72801991943561e-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": 4.099999999999935, + "step": 820, + "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": 2.6913332673572654e-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": 0.2831952633593305, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 743, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.2617124617099762, + 4.589557647705078e-06, + 0.0 + ], + "carrier_2": [ + 0.430851548910141, + 0.699998676776886, + 0.0 + ], + "carrier_3": [ + -1.547293096780777, + 0.36324769258499146, + 0.0 + ], + "carrier_4": [ + 1.5048128068447113, + 0.18378430604934692, + 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": [ + 0.3558476845098817, + -0.4249025561153189, + 3.009047077807463 + ], + "ori": [ + 13.08661968247388, + -13.961423249033539, + -8.735910149013705 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5675.461419256553, + "color": [ + 0.986163193771921, + 0.8447855801867834, + 0.8709377363249102 + ], + "intensity": 6381.431556922362, + "width": 2.7148880804374995, + "height": 1.510489080820355 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.16695171739537384, + -1.1351494675087288, + 1.6551173227478495 + ], + "ori": [ + 0.159729853325544, + -12.90847411999512, + 19.900645821597102 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6815.7495795889145, + "color": [ + 0.7814930209666133, + 0.8204792789924304, + 0.9757973900092265 + ], + "intensity": 7605.054037687152, + "radius": 0.057617507305412576 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 416.9819617752422, + "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": [ + [ + 0.3498821556568146, + -1.8994243144989014, + 2.3101205825805664, + -1.9811913967132568, + -1.5706897974014282, + 4.058050632476807, + 0.006808949634432793, + 0.008062925189733505 + ], + [ + 0.5412904024124146, + -1.9465879201889038, + 2.3150696754455566, + -1.939599871635437, + -1.5706679821014404, + 2.7633330821990967, + 0.007669810671359301, + 0.007041151635348797 + ], + [ + 0.9141026139259338, + -1.719398856163025, + 2.0904998779296875, + -1.9419008493423462, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 2.393329381942749, + -2.3664751052856445, + 2.621460199356079, + -1.8255387544631958, + -1.569681167602539, + 3.9632561206817627, + 0.007675099186599255, + 0.0070067341439425945 + ] + ], + "joint_vel": [ + [ + 0.04978426173329353, + 0.01971501298248768, + -0.010955547913908958, + -0.015202627517282963, + -0.0021795460488647223, + -0.06598014384508133, + -0.00853755697607994, + 0.000959893804974854 + ], + [ + 0.027196917682886124, + 0.012100422754883766, + -0.0050824531354010105, + -0.007309014443308115, + 0.0001533331087557599, + -0.07154703885316849, + -0.008061191067099571, + 0.0002537276013754308 + ], + [ + 2.4115962615250877e-38, + -2.5889530029608225e-38, + -2.491961008713809e-38, + -6.048532853910531e-37, + -1.1856881805789262e-37, + 1.304264576858914e-36, + 8.795460566623749e-38, + -1.2510502340450159e-37 + ], + [ + 0.02553156390786171, + 0.03968844562768936, + -0.009353552013635635, + -0.030215805396437645, + 0.000301707856124267, + 0.024383561685681343, + -0.008397738449275494, + 0.0003041547315660864 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05270913615822792, + 0.001979636959731579, + -0.02794964425265789, + -0.2800889015197754, + 0.6529964208602905, + 0.64410400390625, + -0.28332993388175964 + ], + [ + 0.04994065687060356, + -0.0012305377749726176, + -0.027724258601665497, + -0.2863004803657532, + 0.646847128868103, + 0.6512044668197632, + -0.2748701572418213 + ], + [ + 0.04803815484046936, + 0.0022063625510782003, + -0.028201309964060783, + -0.2737603485584259, + 0.6555659174919128, + 0.6389968991279602, + -0.29490938782691956 + ], + [ + 0.04859814792871475, + -0.0015170867554843426, + -0.030030304566025734, + -0.2794957458972931, + 0.6476671695709229, + 0.6539954543113708, + -0.2733117938041687 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e021/wrist.mp4 b/episodes/c6_p000_e021/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1d1bc1656b0b44cb5a12f5e00cf94bd42ccd9e7d --- /dev/null +++ b/episodes/c6_p000_e021/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f79fcf6d4f8dd1d1b9716ee6c3c1d0d071e278ff95f2b7ed827e8f096bfd5f23 +size 6993609 diff --git a/episodes/c6_p000_e022/data.npz b/episodes/c6_p000_e022/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..56834452790e3dc88d5fb3a4f4674852b6e68e03 --- /dev/null +++ b/episodes/c6_p000_e022/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba7577d07f808e4ae4f75f00c2a273385131fc6e8f6d62f8731484f653417d74 +size 186655 diff --git a/episodes/c6_p000_e022/device_events.jsonl b/episodes/c6_p000_e022/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5d34fa38c5842b282ccc4d43b38a31f693534667 --- /dev/null +++ b/episodes/c6_p000_e022/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 89, "t": 0.445, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 89, "t": 0.445, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 94, "t": 0.47, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 5471, "t": 27.355, "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": 6084, "t": 30.42, "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": 6084, "t": 30.42, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.1595448645731192}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6084, "t": 30.42, "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": 6084, "t": 30.42, "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": 6084, "t": 30.42, "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": 6503, "t": 32.515, "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": 6503, "t": 32.515, "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": 6503, "t": 32.515, "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": 6503, "t": 32.515, "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": 6503, "t": 32.515, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 6503, "t": 32.515, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 6503, "t": 32.515, "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": 6503, "t": 32.515, "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": 6503, "t": 32.515, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.1595448645731192}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 6935, "t": 34.675, "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": 6935, "t": 34.675, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.160000000001105}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 6935, "t": 34.675, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.160000000001105}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 6935, "t": 34.675, "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": 6935, "t": 34.675, "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": 6935, "t": 34.675, "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": 7355, "t": 36.775, "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": 7355, "t": 36.775, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.4127070613898525e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 7355, "t": 36.775, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.4127070613898525e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 7355, "t": 36.775, "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": 7355, "t": 36.775, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 7355, "t": 36.775, "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": 7935, "t": 39.675, "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": 9648, "t": 48.24, "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": 9648, "t": 48.24, "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": 9648, "t": 48.24, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 9648, "t": 48.24, "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_p000_e022/env.mp4 b/episodes/c6_p000_e022/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cf4f4d1edb5598bf10177a9587bfa2261a770ca8 --- /dev/null +++ b/episodes/c6_p000_e022/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f896f2fc8f7ac84a490fb22bcd1656bbdf1a5258869fe0347f41361858dee96 +size 1247405 diff --git a/episodes/c6_p000_e022/meta.json b/episodes/c6_p000_e022/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..98f6fe07860983aef0e2cc5f9800e2271b5fd9cc --- /dev/null +++ b/episodes/c6_p000_e022/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/22", + "fps": 25, + "frames": 1162, + "kept_ticks": "even", + "video_frames": { + "wrist": 1162, + "env": 1162 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e022/scene_snapshot.json b/episodes/c6_p000_e022/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..5abf5f1e817503b6935bf5f25fd7c7dc4c62fb94 --- /dev/null +++ b/episodes/c6_p000_e022/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 22, + "env_id": 0, + "run_id": "c6_p000", + "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_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": [ + 0.4785776138305664, + 0.06960201263427734, + 0.8999999761581421 + ], + "ori": [ + -0.706503689289093, + 0.0, + 0.0, + 0.7077093720436096 + ], + "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": [ + 3.364164957893323e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.21625355491536663, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.11604655649985507, + "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": 0.21625355491536663, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.11924362182617188, + 1.1499948501586914, + 0.8999999761581421 + ], + "ori": [ + 5.01118011015933e-05, + -2.1690826912390548e-10, + 2.754908523527888e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.542726029730602e-10, + 2.8474229640806925e-09, + 0.0 + ], + "angular_velocity": [ + -1.4202402098817402e-07, + 4.3311452202488e-09, + 1.00792281187978e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.033471107482910156, + 0.4499950408935547, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 9.534845135661385e-10, + 5.177451800619792e-10, + -2.0996370949433185e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.572797530575599e-11, + -3.998700259799648e-10, + 0.0 + ], + "angular_velocity": [ + 1.1339068350935122e-08, + -7.835058823957297e-09, + -7.59395657468076e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4569463729858398, + 0.4702720642089844, + 0.8999999761581421 + ], + "ori": [ + 0.9889394640922546, + 8.447030852565263e-10, + 4.734770353564954e-09, + 0.14831988513469696 + ], + "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": [ + -9.324985228431615e-10, + 1.766349955190094e-09, + 0.0 + ], + "angular_velocity": [ + -1.992100884251613e-08, + -6.286752096684722e-08, + 9.727001426540482e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3424310684204102, + 0.6094846725463867, + 0.8999999761581421 + ], + "ori": [ + -0.8785114884376526, + -1.2844378005638646e-08, + 4.6072894832605016e-08, + 0.4777212142944336 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.0218537954974636e-10, + 3.922252744814614e-09, + -7.450580596923828e-09 + ], + "angular_velocity": [ + -2.7804185265267733e-07, + -6.013632969370519e-08, + -1.436858276804287e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -0.12802410125732422, + 1.1459169387817383, + 0.9179999828338623 + ], + "ori": [ + 0.009468658827245235, + 1.829773332850948e-09, + 4.031386779956847e-09, + 0.9999552369117737 + ], + "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": [ + 3.872715836905627e-08, + 5.842244377163297e-08, + 1.043081283569336e-07 + ], + "angular_velocity": [ + -1.3620690424431814e-06, + 2.1823279894306324e-06, + 2.2493882312346614e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.025460243225097656, + 0.45552539825439453, + 0.9180000424385071 + ], + "ori": [ + 0.9947195053100586, + 1.5922806406720724e-09, + 1.2085818457130415e-12, + -0.10263143479824066 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1900560537014826e-08, + 1.1156499724052082e-08, + -5.424022674560547e-06 + ], + "angular_velocity": [ + -7.614843866576848e-09, + -1.2098063280063798e-06, + 7.66927499284975e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.4451589584350586, + 0.46946239471435547, + 0.9180000424385071 + ], + "ori": [ + 0.9745763540267944, + 1.2838821117355792e-09, + 3.455532970875197e-09, + 0.22405578196048737 + ], + "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": [ + -3.869552145374655e-08, + -1.2169829588515313e-08, + -5.681067705154419e-06 + ], + "angular_velocity": [ + 1.049844854605908e-06, + -1.5139864899538225e-06, + 2.4532428710699605e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.3334579467773438, + 0.5990924835205078, + 0.9179999828338623 + ], + "ori": [ + -0.8476807475090027, + -1.0818670403978103e-09, + 4.1012238938265e-08, + 0.5305067300796509 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0197777555731591e-07, + 6.796568641220802e-08, + -9.98377799987793e-07 + ], + "angular_velocity": [ + 6.778525971640192e-07, + -6.25639177087578e-06, + 4.276836023109354e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 1.9799999999999798, + "step": 396, + "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": 3.364164957893323e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.21625355491536663, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 306, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.26924362778663635, + 0.6999948620796204, + 0.0 + ], + "carrier_2": [ + -0.11652889847755432, + -4.947185516357422e-06, + 0.0 + ], + "carrier_3": [ + 1.3069463670253754, + 0.02027207612991333, + 0.0 + ], + "carrier_4": [ + -1.4924310743808746, + 0.15948468446731567, + 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": [ + 0.6026015445209513, + 0.19077870044326117, + 2.750407337006076 + ], + "ori": [ + -2.4499174280100817, + -12.245509637474012, + 7.292325767130265 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5208.24330203879, + "color": [ + 0.997485636359929, + 0.8129009954276468, + 0.9318713680124819 + ], + "intensity": 11465.002247045115, + "width": 1.682836749564452, + "height": 1.3159558640705449 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.28369527369405523, + 1.5213389419359744, + 2.5597757741424374 + ], + "ori": [ + -7.5805328586063325, + -24.64720268405566, + 39.38067071136271 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6393.166188833957, + "color": [ + 0.8278885157123508, + 0.8312846780122986, + 0.7647408803208765 + ], + "intensity": 9770.428513640454, + "radius": 0.3244419798178235 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1582.3679995326465, + "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": [ + [ + 0.9141027927398682, + -1.7193987369537354, + 2.0904996395111084, + -1.9419004917144775, + -1.5707999467849731, + 2.484900951385498, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141009449958801, + -1.7193976640701294, + 2.09049916267395, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 1.9074262380599976, + -2.1360294818878174, + 2.4617388248443604, + -1.8968836069107056, + -1.5707120895385742, + 3.51628041267395, + 0.007638970389962196, + 0.007067193742841482 + ], + [ + 2.7785582542419434, + -1.593029260635376, + 2.2213048934936523, + -2.199075222015381, + -1.5707920789718628, + 4.349042892456055, + 0.017999980598688126, + 0.01800001785159111 + ] + ], + "joint_vel": [ + [ + 0.0, + -1.9991190138766062e-38, + -2.0934591909097316e-38, + -6.225333672219499e-37, + 4.916734800737714e-37, + 2.6003368714253044e-37, + 0.0, + -1.6215534359086204e-38 + ], + [ + 0.0, + -2.4615399400920885e-38, + -1.6967874689000626e-38, + -3.6136139973165453e-37, + 5.985565899779665e-37, + -2.7013861404043733e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + 0.07368746399879456, + -0.06289933621883392, + 0.03203701972961426, + 0.028903406113386154, + 9.076866263058037e-05, + 0.0656561627984047, + -0.007810831069946289, + 0.0005582228186540306 + ], + [ + 0.007030262146145105, + 0.020992984995245934, + -0.01995774544775486, + -0.0007705898606218398, + 4.877700575889321e-06, + 0.007152862381190062, + 3.138195097562857e-06, + -3.1380850487039424e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05287803336977959, + -0.0018749876180663705, + -0.028744466602802277, + -0.27202466130256653, + 0.6574064493179321, + 0.642020583152771, + -0.2857078015804291 + ], + [ + 0.04877518489956856, + 0.0011604538885876536, + -0.028432771563529968, + -0.2791617214679718, + 0.6371244192123413, + 0.6598947644233704, + -0.2840423882007599 + ], + [ + 0.04785043001174927, + 0.0033515403047204018, + -0.029202783480286598, + -0.2740589678287506, + 0.6528831124305725, + 0.6412372589111328, + -0.2957196533679962 + ], + [ + 0.05041215196251869, + -0.0004882201610598713, + -0.029374806210398674, + -0.28293371200561523, + 0.647118866443634, + 0.6519231200218201, + -0.2760107219219208 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e022/wrist.mp4 b/episodes/c6_p000_e022/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ae41f27e8cf2ebb166b013211347f36ceb2a60c3 --- /dev/null +++ b/episodes/c6_p000_e022/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:489cb54086a8d1a071ea2c9572af59d35d3cab4153646352713e3bef36b9ae3c +size 6212301 diff --git a/episodes/c6_p000_e023/data.npz b/episodes/c6_p000_e023/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..a067b0def2c197a94317b3ee36d7af312a057f48 --- /dev/null +++ b/episodes/c6_p000_e023/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de63b02291d76bf8e59a70894b5587c14194ee576eba094944b8540862ea09c8 +size 192220 diff --git a/episodes/c6_p000_e023/device_events.jsonl b/episodes/c6_p000_e023/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..842b6f0e6c1d2b8473c6e329abecc0d1418b12fd --- /dev/null +++ b/episodes/c6_p000_e023/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 95, "t": 0.475, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 95, "t": 0.475, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 100, "t": 0.5, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1243, "t": 6.215, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6375, "t": 31.875, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 6988, "t": 34.94, "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": 6988, "t": 34.94, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.5730702248464983}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 6988, "t": 34.94, "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": 6988, "t": 34.94, "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": 6988, "t": 34.94, "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": 7407, "t": 37.035, "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": 7407, "t": 37.035, "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": 7407, "t": 37.035, "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": 7407, "t": 37.035, "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": 7407, "t": 37.035, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7407, "t": 37.035, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 7407, "t": 37.035, "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": 7407, "t": 37.035, "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": 7407, "t": 37.035, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.5730702248464983}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 8122, "t": 40.61, "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": 8122, "t": 40.61, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.575000000001829}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8122, "t": 40.61, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.575000000001829}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 8122, "t": 40.61, "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": 8122, "t": 40.61, "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": 8122, "t": 40.61, "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": 8542, "t": 42.71, "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": 8542, "t": 42.71, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8542, "t": 42.71, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8542, "t": 42.71, "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": 8542, "t": 42.71, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 8542, "t": 42.71, "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": 9122, "t": 45.61, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 33, "step": 10848, "t": 54.24, "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": 10848, "t": 54.24, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 10848, "t": 54.24, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 10848, "t": 54.24, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c6_p000_e023/env.mp4 b/episodes/c6_p000_e023/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c9d7e513be4cc224ac96179d162ba0f7a0ddbfe5 --- /dev/null +++ b/episodes/c6_p000_e023/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66ef370eae45f4b0c7c8ebdb5182819f2a17332c43540f83a4140affe2f50c76 +size 1260147 diff --git a/episodes/c6_p000_e023/meta.json b/episodes/c6_p000_e023/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..95c90eb57f245a2f831ff2f5eb7c035c246634fa --- /dev/null +++ b/episodes/c6_p000_e023/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/23", + "fps": 25, + "frames": 1261, + "kept_ticks": "even", + "video_frames": { + "wrist": 1261, + "env": 1261 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e023/scene_snapshot.json b/episodes/c6_p000_e023/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..51d4ff34d91d6c93196d9eaaa5883b26e6e701c6 --- /dev/null +++ b/episodes/c6_p000_e023/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 23, + "env_id": 1, + "run_id": "c6_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5073986053466797, + 0.06928730010986328, + 0.8999999761581421 + ], + "ori": [ + -0.6957700252532959, + 0.0, + 0.0, + 0.718264639377594 + ], + "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": [ + 3.3641652831539748e-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": 0.2501391787371674, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.03581729409091611, + "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": 0.2501391787371674, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1143951416015625, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.2023604334387983e-09, + -4.0631835673821115e-09, + -6.657376070506871e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.724561156332356e-10, + 9.432474801229773e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -5.109088263566264e-08, + 9.473696849227053e-08, + -1.1303349367608462e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6860847473144531, + 0.8888120651245117, + 0.8999999761581421 + ], + "ori": [ + 0.6173053979873657, + -5.1803183964693744e-08, + 2.2560375789737463e-09, + 0.7867236733436584 + ], + "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": [ + -7.016391911918163e-09, + -2.1535011551776506e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 1.705045917788084e-07, + -6.80024072607921e-07, + 9.910561260539907e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3973617553710938, + 0.8012619018554688, + 0.8999999761581421 + ], + "ori": [ + -0.699713945388794, + 6.937172258858482e-08, + 1.0882104817255822e-07, + 0.7144231200218201 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.824692979519483e-10, + 1.1987233428101263e-10, + 0.0 + ], + "angular_velocity": [ + -1.4732785658111425e-08, + -4.179206314347539e-09, + -4.273732034931754e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.39259815216064453, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 4.653488940675743e-05, + -6.508838623631164e-08, + -3.07054897064063e-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": [ + 6.842668653916917e-10, + -1.3442125634810509e-08, + -7.078051567077637e-08 + ], + "angular_velocity": [ + 2.030524228757713e-07, + 4.306072867166222e-07, + -1.225693040396436e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.10696887969970703, + 0.45298194885253906, + 0.9179999828338623 + ], + "ori": [ + 0.9994427561759949, + -1.0461480570711501e-09, + -3.868787956662345e-09, + 0.033381715416908264 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.287436823815824e-08, + -1.1743240158068602e-08, + 1.5273690223693848e-07 + ], + "angular_velocity": [ + 1.1910756256838795e-06, + -1.8527952079239185e-06, + -5.8468845764991784e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.6821460723876953, + 0.8859834671020508, + 0.9180000424385071 + ], + "ori": [ + 0.5439807772636414, + 3.9945724950030126e-08, + 2.059347821159463e-07, + 0.839097797870636 + ], + "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": [ + -2.417500809315243e-06, + -2.488047357473988e-06, + -6.098300218582153e-06 + ], + "angular_velocity": [ + 6.555278378073126e-05, + -0.00011373881716281176, + 2.9985772926011123e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.391489028930664, + 0.8116979598999023, + 0.9179999828338623 + ], + "ori": [ + -0.6832149028778076, + 6.637190352876132e-08, + 1.0963305641098486e-07, + 0.730217456817627 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3082441796541389e-08, + 1.124186521650472e-08, + -6.1355531215667725e-06 + ], + "angular_velocity": [ + -1.2567024896270595e-06, + -3.892664608429186e-07, + 1.4136097092887212e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.3828544616699219, + 1.1438703536987305, + 0.9179999828338623 + ], + "ori": [ + 0.02036663144826889, + 3.598592712705795e-08, + -1.8167280302350264e-07, + 0.9997925758361816 + ], + "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": [ + -8.943145530793117e-07, + -1.4831875887466595e-06, + -4.507601261138916e-07 + ], + "angular_velocity": [ + -1.0192256013397127e-05, + -2.173132997995708e-05, + 7.181382898124866e-06 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 3.959999999999938, + "step": 792, + "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": 3.3641652831539748e-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": 0.2501391787371674, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 696, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.03560486435890198, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_2": [ + 1.5360847413539886, + 0.4388120770454407, + 0.0 + ], + "carrier_3": [ + -1.5473617613315582, + 0.3512619137763977, + 0.0 + ], + "carrier_4": [ + 0.24259814620018005, + 0.6999967694282532, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.4407399134560633, + 0.4875319680233554, + 3.063390102132477 + ], + "ori": [ + 2.6886849231966323, + -14.283719489963646, + 21.42026492863903 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6906.084458299745, + "color": [ + 0.8783424744562369, + 0.8643409598791966, + 0.8060961785817277 + ], + "intensity": 15697.484169566076, + "width": 2.146756054420644, + "height": 1.2917685394293583 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.7873066406544709, + 1.4461061758124443, + 1.9856931623601184 + ], + "ori": [ + -37.80128926309666, + 8.830746284330644, + 39.42299147417924 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4328.187027834299, + "color": [ + 0.85714229411479, + 0.8151992156231466, + 0.7518291467335143 + ], + "intensity": 3113.6837876976324, + "radius": 0.19080884964282513 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1582.3679995326465, + "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": [ + [ + 0.9109442234039307, + -1.3458971977233887, + 2.2495973110198975, + -2.474518299102783, + -1.5708056688308716, + 2.6872994899749756, + 0.007599503733217716, + 0.007101209368556738 + ], + [ + 0.9141024351119995, + -1.719397783279419, + 2.09049916267395, + -1.9419002532958984, + -1.5707999467849731, + 2.484900951385498, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 2.8078701496124268, + -1.52083420753479, + 2.1383190155029297, + -2.1886885166168213, + -1.5714815855026245, + 4.38079309463501, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 2.5272603034973145, + -2.15287446975708, + 2.5756142139434814, + -1.993490219116211, + -1.570792555809021, + 4.097724437713623, + 0.007727465592324734, + 0.0069807530380785465 + ] + ], + "joint_vel": [ + [ + 0.00015691790031269193, + -0.02093290537595749, + -0.006791320163756609, + 0.026939023286104202, + -0.00041437731124460697, + -0.002286090049892664, + -0.006382089573889971, + 0.00020924444834236056 + ], + [ + 2.586170304470366e-38, + -1.8851774739245053e-38, + 1.2294292076753783e-38, + -4.610974614730599e-37, + -9.45467508475423e-38, + -2.3289264792560417e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + 6.811942057538545e-06, + 3.40599808623665e-06, + -2.0435822079889476e-05, + -1.3623897757497616e-05, + -1.021793741529109e-05, + 2.7247828256804496e-05, + 1.8193080109085713e-07, + 1.819280583958971e-07 + ], + [ + -0.0031596976332366467, + -0.005680528469383717, + 0.0017389270942658186, + 0.0030059905257076025, + -0.000757238594815135, + -0.0008295443840324879, + -0.009408271871507168, + 0.0002859781961888075 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.053678467869758606, + -0.00037666625576093793, + -0.027791664004325867, + -0.2719307243824005, + 0.6542935967445374, + 0.6466730833053589, + -0.2824312746524811 + ], + [ + 0.04717930406332016, + 0.0007437780732288957, + -0.028004823252558708, + -0.2904728651046753, + 0.6430189609527588, + 0.6517167091369629, + -0.2782398760318756 + ], + [ + 0.04788413271307945, + 0.004414387047290802, + -0.029118608683347702, + -0.2778550088405609, + 0.64986252784729, + 0.6406912207603455, + -0.29998332262039185 + ], + [ + 0.049893129616975784, + 0.0010455879382789135, + -0.026868600398302078, + -0.2828877866268158, + 0.6462691426277161, + 0.6552477478981018, + -0.27011314034461975 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e023/wrist.mp4 b/episodes/c6_p000_e023/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5d72fcb82a7958e4362a1ed8ca221349ecc781de --- /dev/null +++ b/episodes/c6_p000_e023/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f1f07ca94e400e4c520c028c77a565c3f5a3b219187b46df7d23a0e6d0571d3 +size 7397481 diff --git a/episodes/c6_p000_e024/data.npz b/episodes/c6_p000_e024/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..a638996fe15f44e22e6191f98bb80acd5231af08 --- /dev/null +++ b/episodes/c6_p000_e024/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab0a52a041747c8adc72c47025dca79bb697fbbafbaf133dca0115677b73b847 +size 191185 diff --git a/episodes/c6_p000_e024/device_events.jsonl b/episodes/c6_p000_e024/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..976c4fdd77d51acfff037e97fe2bbedff5786b04 --- /dev/null +++ b/episodes/c6_p000_e024/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 23, "t": 0.115, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 23, "t": 0.115, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 28, "t": 0.14, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6471, "t": 32.355, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7084, "t": 35.42, "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": 6, "step": 7084, "t": 35.42, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.08664269917821}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7084, "t": 35.42, "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": 8, "step": 7084, "t": 35.42, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 7084, "t": 35.42, "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": 10, "step": 7503, "t": 37.515, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7503, "t": 37.515, "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": 12, "step": 7503, "t": 37.515, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7503, "t": 37.515, "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": 14, "step": 7503, "t": 37.515, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7503, "t": 37.515, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7503, "t": 37.515, "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": 17, "step": 7503, "t": 37.515, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7503, "t": 37.515, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.08664269917821}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8121, "t": 40.605, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 8121, "t": 40.605, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.090000000001581}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8121, "t": 40.605, "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": 3.090000000001581}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8121, "t": 40.605, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 8121, "t": 40.605, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 8121, "t": 40.605, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8541, "t": 42.705, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8541, "t": 42.705, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 9.013261803580974e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8541, "t": 42.705, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 9.013261803580974e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8541, "t": 42.705, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8541, "t": 42.705, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8541, "t": 42.705, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 9123, "t": 45.615, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 10908, "t": 54.54, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 10908, "t": 54.54, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10908, "t": 54.54, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 10908, "t": 54.54, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c6_p000_e024/env.mp4 b/episodes/c6_p000_e024/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..686a83bd78d79c335f24f75b087262ec47c5ba33 --- /dev/null +++ b/episodes/c6_p000_e024/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:025a3dd2d47f00982d3f5eeb72352d72614f73604ee0eaeadcf3ed7166fb91d4 +size 1240721 diff --git a/episodes/c6_p000_e024/meta.json b/episodes/c6_p000_e024/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0472ce3edf59175cd4723c8ed2c2a27261aeb992 --- /dev/null +++ b/episodes/c6_p000_e024/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/24", + "fps": 25, + "frames": 1253, + "kept_ticks": "even", + "video_frames": { + "wrist": 1253, + "env": 1253 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e024/scene_snapshot.json b/episodes/c6_p000_e024/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..3c813103efb2a6c7b76e92c401109b569fdba03f --- /dev/null +++ b/episodes/c6_p000_e024/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 24, + "env_id": 3, + "run_id": "c6_p000", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 0.5043811798095703, + 0.1029367446899414, + 0.8999999761581421 + ], + "ori": [ + -0.6904402375221252, + 0.0, + 0.0, + 0.7233894467353821 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.0184997336775146e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2895761492120609, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.12439860203444217, + "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": 0.2895761492120609, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.698990821838379, + 0.8079071044921875, + 0.8999999761581421 + ], + "ori": [ + 0.7022456526756287, + -7.597334672482248e-08, + -8.008534990722183e-08, + 0.7119348049163818 + ], + "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": [ + 3.579111895746223e-09, + 3.761594591367157e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -2.795310365399928e-07, + -7.569880722257949e-09, + 5.725796370370517e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.016038894653320312, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + 4.031765911349794e-06, + 7.054685169372021e-10, + 1.588130738028326e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5061036862107358e-09, + -2.103424101562723e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 1.6384846901473793e-07, + -1.509066720473129e-07, + -7.888861119909052e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.02571868896484375, + 0.45000362396240234, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 6.73167832587751e-09, + 7.91664955812621e-10, + -2.9501732569769956e-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": [ + 2.55106935576066e-10, + -2.908281115931999e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 2.804383392174259e-08, + 2.6625180282735528e-08, + 5.476374909108017e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2986021041870117, + 0.5552530288696289, + 0.8999999761581421 + ], + "ori": [ + 0.9218994379043579, + -2.8400005902540215e-08, + -5.573441441697469e-08, + -0.3874291777610779 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.603485287939634e-10, + 2.4646545915274487e-10, + 0.0 + ], + "angular_velocity": [ + -2.587820446819933e-08, + 3.6284070858982886e-08, + 9.775507070486356e-10 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.7037086486816406, + 0.80621337890625, + 0.9179999828338623 + ], + "ori": [ + 0.7025930881500244, + -7.698874782136045e-08, + -8.310593813121159e-08, + 0.7115918397903442 + ], + "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": [ + -6.775259020486146e-09, + 3.908820378484279e-09, + 1.9371509552001953e-07 + ], + "angular_velocity": [ + 2.1513637875614222e-06, + 8.8561492361805e-08, + 5.141981063161438e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.02556324005126953, + 1.1499404907226562, + 0.9180000424385071 + ], + "ori": [ + -0.06891407817602158, + 2.6495622362787685e-10, + 3.299170381332317e-10, + 0.9976226687431335 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.249559009712357e-09, + -7.620951869569126e-09, + -5.062669515609741e-06 + ], + "angular_velocity": [ + -6.796951765863923e-07, + 1.740621200951864e-06, + -5.748618292500396e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.036701202392578125, + 0.4463796615600586, + 0.9180000424385071 + ], + "ori": [ + 0.9964709877967834, + 5.421949111905633e-09, + 1.868038612684586e-09, + -0.08393795788288116 + ], + "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": [ + -2.6092438432101517e-08, + -1.5122655128152473e-08, + -5.3122639656066895e-06 + ], + "angular_velocity": [ + 4.920821083942428e-08, + -1.8903664340541582e-06, + 2.060986936669451e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.304574966430664, + 0.5636816024780273, + 0.9179999828338623 + ], + "ori": [ + 0.9471547603607178, + -3.0913302140334054e-08, + -5.430659300031948e-08, + -0.32077717781066895 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.30827372560816e-08, + 5.047099449484449e-08, + -2.5406479835510254e-06 + ], + "angular_velocity": [ + -2.1966771157622134e-07, + -2.5506817564746598e-06, + 2.6434048550072475e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 4.579999999999925, + "step": 916, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 2.0184997336775146e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2895761492120609, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 892, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5489908158779144, + 0.35790711641311646, + 0.0 + ], + "carrier_2": [ + -0.1660389006137848, + 0.6999996304512024, + 0.0 + ], + "carrier_3": [ + -0.12428131699562073, + 3.635883331298828e-06, + 0.0 + ], + "carrier_4": [ + -1.4486021101474762, + 0.10525304079055786, + 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": [ + 0.6685016285454738, + 0.07471577369116844, + 2.7263207915881216 + ], + "ori": [ + 10.130379311344946, + 10.994622320974425, + 29.84564673108168 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5189.465894644962, + "color": [ + 0.9397967069463615, + 0.8504838168356619, + 0.928799710855504 + ], + "intensity": 14078.875287801284, + "width": 1.6933868900067472, + "height": 1.5335525827802177 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.544010708233718, + 0.18930961110829747, + 2.7773729585028892 + ], + "ori": [ + -13.704769755059559, + 0.9184639786191866, + 11.68342766863988 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6174.0854997417055, + "color": [ + 0.9323576455541592, + 0.8841881060328663, + 0.7792816074021818 + ], + "intensity": 4701.239720539109, + "radius": 0.17347948738954547 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1582.3679995326465, + "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": [ + [ + -0.08110933005809784, + -2.0493552684783936, + 2.640683889389038, + -2.1620922088623047, + -1.5707988739013672, + 4.689680576324463, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + -0.32841289043426514, + -2.168030261993408, + 2.3219716548919678, + -1.7242467403411865, + -1.5708874464035034, + 4.3559722900390625, + 0.01799999177455902, + 0.018000006675720215 + ], + [ + 1.2078994512557983, + -1.504433274269104, + 2.1927173137664795, + -2.2610177993774414, + -1.5703184604644775, + 2.7764182090759277, + 0.007621410768479109, + 0.006959398742765188 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -0.00016065154341049492, + 0.01868005096912384, + 0.0159026850014925, + -0.03367698937654495, + 2.3136740310292225e-06, + -4.0733590140007436e-05, + 9.93543380900519e-07, + -9.935586149367737e-07 + ], + [ + -2.554467755544465e-06, + -1.3623710401589051e-05, + -1.3623845916299615e-05, + -3.405963752811658e-06, + 6.811957973695826e-06, + -5.344791449701791e-14, + 1.0396333038897865e-07, + -1.0396291827419191e-07 + ], + [ + -6.07799956924282e-05, + 0.013754675164818764, + 0.008981453254818916, + -0.022671163082122803, + 0.0003218263736926019, + 0.0019828123040497303, + -0.008530144579708576, + 0.0002568023046478629 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.051218800246715546, + -0.00024978755391202867, + -0.029393212869763374, + -0.2759089171886444, + 0.65864497423172, + 0.6408897638320923, + -0.2816404104232788 + ], + [ + 0.04968908429145813, + -0.0020545264706015587, + -0.030729349702596664, + -0.2831568717956543, + 0.644819974899292, + 0.6516220569610596, + -0.2818121910095215 + ], + [ + 0.04793304577469826, + 0.0013031481066718698, + -0.02953980304300785, + -0.280787855386734, + 0.651272177696228, + 0.6402981281280518, + -0.29499322175979614 + ], + [ + 0.04831917583942413, + -0.002460668096318841, + -0.028925739228725433, + -0.2861391305923462, + 0.6456941366195679, + 0.6502863764762878, + -0.27987709641456604 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e024/wrist.mp4 b/episodes/c6_p000_e024/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4d0ec90d1a5f3fcbe0c283c333fdff0916c20fb2 --- /dev/null +++ b/episodes/c6_p000_e024/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af03b8094017de79dcbb841b693d489365bc633633b6ea759c373e3d0e81e50b +size 7978344 diff --git a/episodes/c6_p000_e025/data.npz b/episodes/c6_p000_e025/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..81375bb9c0bde8c3bf2e667e3775f88cdb56d841 --- /dev/null +++ b/episodes/c6_p000_e025/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce3506d1a92088a8bbf777c26b4cdbfe22d7a9383377a2ee4e08c014a5f48d7d +size 188332 diff --git a/episodes/c6_p000_e025/device_events.jsonl b/episodes/c6_p000_e025/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0c027d46ab697bcb737904beeb7e2a3f909d57e9 --- /dev/null +++ b/episodes/c6_p000_e025/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 148, "t": 0.74, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 148, "t": 0.74, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 153, "t": 0.765, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1904, "t": 9.52, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6754, "t": 33.77, "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": 7368, "t": 36.84, "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": 7368, "t": 36.84, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.5395600926173003}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 7368, "t": 36.84, "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": 7368, "t": 36.84, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 10, "step": 7368, "t": 36.84, "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": 7787, "t": 38.935, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 7787, "t": 38.935, "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": 7787, "t": 38.935, "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": 7787, "t": 38.935, "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": 7787, "t": 38.935, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7787, "t": 38.935, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7787, "t": 38.935, "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": 7787, "t": 38.935, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 19, "step": 7787, "t": 38.935, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.5395600926173003}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 8295, "t": 41.475, "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": 8295, "t": 41.475, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.5400000000012994}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8295, "t": 41.475, "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": 2.5400000000012994}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 8295, "t": 41.475, "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": 8295, "t": 41.475, "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": 8295, "t": 41.475, "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": 8715, "t": 43.575, "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": 8715, "t": 43.575, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.7739358593171772e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8715, "t": 43.575, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.7739358593171772e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8715, "t": 43.575, "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": 8715, "t": 43.575, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8715, "t": 43.575, "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": 9284, "t": 46.42, "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": 11092, "t": 55.46, "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": 11092, "t": 55.46, "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": 11092, "t": 55.46, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 11092, "t": 55.46, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c6_p000_e025/env.mp4 b/episodes/c6_p000_e025/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d3dbd77ac00e6b4228fcbb06f50e0779b31d70c3 --- /dev/null +++ b/episodes/c6_p000_e025/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45686fce7c55544750c7c5e1d8a6aff53335b27e09cfca8762f4078c1f1fd914 +size 1206376 diff --git a/episodes/c6_p000_e025/meta.json b/episodes/c6_p000_e025/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..68f238ca43de1156d51db9f18744aaf4db10defb --- /dev/null +++ b/episodes/c6_p000_e025/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/25", + "fps": 25, + "frames": 1211, + "kept_ticks": "even", + "video_frames": { + "wrist": 1211, + "env": 1211 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e025/scene_snapshot.json b/episodes/c6_p000_e025/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..7b92cb04263f807b64b2d3594e98caea999e8bef --- /dev/null +++ b/episodes/c6_p000_e025/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 25, + "env_id": 2, + "run_id": "c6_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46108436584472656, + 0.05295372009277344, + 0.8999999761581421 + ], + "ori": [ + 0.7118666768074036, + 0.0, + 0.0, + -0.7023146152496338 + ], + "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": [ + 3.027748407893882e-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": 0.17937655972080382, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2269960613970307, + "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": 0.17937655972080382, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3954219818115234, + 0.7593708038330078, + 0.8999999761581421 + ], + "ori": [ + -0.7449191808700562, + 9.64209334597399e-08, + 6.542207842130665e-08, + 0.6671547293663025 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.685488191353727e-10, + 4.271072384653962e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.5379854662332946e-08, + -1.084584155819357e-08, + -1.0082626289431573e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.07719993591308594, + 0.4495840072631836, + 0.8999999761581421 + ], + "ori": [ + 0.9999940395355225, + 2.0729098082483688e-07, + -6.31627088409914e-08, + 0.0034746560268104076 + ], + "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": [ + 6.784599104747713e-09, + 3.539296358212596e-07, + 2.123415470123291e-07 + ], + "angular_velocity": [ + -1.120581327995751e-05, + 1.0488791986063006e-06, + -5.48633715879987e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4876899719238281, + 0.4816884994506836, + 0.8999999761581421 + ], + "ori": [ + 0.9797817468643188, + -1.7559891318796872e-08, + -8.369153192688827e-08, + 0.200069859623909 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.0033637798965174e-09, + -2.1759788637609745e-08, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 6.131327836556011e-07, + 1.7123127804552496e-07, + -1.632505473025958e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.22780513763427734, + 1.1499900817871094, + 0.8999999761581421 + ], + "ori": [ + 7.484711659344612e-06, + 1.8882399643871395e-08, + 9.516346821669686e-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": [ + -8.638341597588806e-09, + -1.4412048443546155e-08, + 4.0978193283081055e-08 + ], + "angular_velocity": [ + 7.208769829958328e-07, + -7.289452241820982e-07, + -8.719715793858995e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.3969087600708008, + 0.7609148025512695, + 0.9179999828338623 + ], + "ori": [ + -0.7150653004646301, + 9.537419742855491e-08, + 6.509046102110005e-08, + 0.6990577578544617 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.079097473829734e-10, + 7.448326755365997e-08, + 1.2665987014770508e-07 + ], + "angular_velocity": [ + -2.742262040555943e-06, + -8.600848673268047e-07, + 2.0259795974197914e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.08269309997558594, + 0.4484682083129883, + 0.9180000424385071 + ], + "ori": [ + 0.9976871013641357, + 6.787251436435326e-07, + -2.6822480236887714e-08, + -0.06797459721565247 + ], + "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": [ + -2.3645159217267064e-06, + 7.383217962342314e-06, + -5.37186861038208e-06 + ], + "angular_velocity": [ + -0.00010409158130642027, + -6.205116278579226e-07, + 4.2545383621472865e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.4757061004638672, + 0.47617530822753906, + 0.9180000424385071 + ], + "ori": [ + 0.9592585563659668, + -1.4315368446204957e-07, + -5.2168815045661177e-08, + 0.28252989053726196 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.496635377407074e-06, + -2.0063148440385703e-06, + -6.493180990219116e-06 + ], + "angular_velocity": [ + -3.1903105991659686e-05, + -3.078608870055177e-07, + 8.146738764480688e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.2330942153930664, + 1.1532230377197266, + 0.9179999828338623 + ], + "ori": [ + 0.042616985738277435, + 2.0237434839032176e-08, + 9.474255158181677e-09, + 0.9990915060043335 + ], + "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": [ + -6.215975290047027e-09, + -7.420817382808309e-08, + -1.125037670135498e-06 + ], + "angular_velocity": [ + 2.7873585395354894e-07, + 2.160687245122972e-06, + -1.8331348883293686e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 7.2599999999998674, + "step": 1452, + "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": 3.027748407893882e-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": 0.17937655972080382, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1303, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.545421987771988, + 0.30937081575393677, + 0.0 + ], + "carrier_2": [ + -0.22719994187355042, + -0.00041598081588745117, + 0.0 + ], + "carrier_3": [ + 1.3376899659633636, + 0.03168851137161255, + 0.0 + ], + "carrier_4": [ + 0.07780513167381287, + 0.6999900937080383, + 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": [ + -0.584216687368027, + 0.3140593623874206, + 2.7880951389728588 + ], + "ori": [ + -3.7444333737783975, + -5.164195707210261, + 13.652349356932156 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6058.06768616708, + "color": [ + 0.9406385852414718, + 0.9163279040569287, + 0.8037891056598143 + ], + "intensity": 6058.3733032648215, + "width": 1.8066317832341814, + "height": 1.576340333268225 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.0539220902807922, + -0.8139646017289067, + 2.6458601505974086 + ], + "ori": [ + -39.24784464943837, + -8.78192273333071, + -5.582975302653708 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3842.4776879714054, + "color": [ + 0.7556612491036514, + 0.8220744677784424, + 0.9418762314375015 + ], + "intensity": 9359.808977705638, + "radius": 0.1766415745499778 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1592.2227817066223, + "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 + ], + [ + -0.32882997393608093, + -2.1446666717529297, + 2.3997066020965576, + -1.8253262042999268, + -1.5707261562347412, + 4.354227542877197, + 0.007486534770578146, + 0.007325414568185806 + ], + [ + 0.9141138792037964, + -1.7193928956985474, + 2.090496063232422, + -1.9418997764587402, + -1.5707999467849731, + 2.484907865524292, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.8050670623779297, + -1.5205817222595215, + 2.1372017860412598, + -2.1855075359344482, + -1.5699479579925537, + 4.376830101013184, + 0.017999986186623573, + 0.017999986186623573 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -0.00025687695597298443, + -0.00041284257895313203, + -0.0021391676273196936, + -0.00036095097311772406, + -0.0015133804408833385, + 0.0035873183514922857, + -0.008893562480807304, + 0.0003524974745232612 + ], + [ + 0.0, + -2.446822382580978e-38, + -1.42315928088767e-38, + -3.685601726233594e-37, + 6.255756870814885e-37, + -1.4123868830210808e-37, + 2.599039028439165e-08, + -2.599036719175274e-08 + ], + [ + -6.811926596128615e-06, + -6.811850653321017e-06, + -6.8119188654236495e-06, + -6.8119511524855625e-06, + -3.405977395232185e-06, + 1.362390958092874e-05, + 1.8192724837717833e-07, + 1.8192858419752156e-07 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05282868444919586, + 0.0031840368174016476, + -0.030099453404545784, + -0.2636755704879761, + 0.6579803824424744, + 0.6482741832733154, + -0.27798837423324585 + ], + [ + 0.04919801279902458, + 0.0016075128223747015, + -0.027374306693673134, + -0.2816108763217926, + 0.6433727145195007, + 0.6519944071769714, + -0.28578001260757446 + ], + [ + 0.04857506603002548, + 0.0031312101054936647, + -0.029238440096378326, + -0.2758527994155884, + 0.654777467250824, + 0.6384305953979492, + -0.2959359586238861 + ], + [ + 0.04823824018239975, + -0.0015211062273010612, + -0.03176778182387352, + -0.2828269600868225, + 0.6427775025367737, + 0.6566567420959473, + -0.27504172921180725 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e025/wrist.mp4 b/episodes/c6_p000_e025/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4454bb3caa0aef1b8ba9c57f4d1cca348f325418 --- /dev/null +++ b/episodes/c6_p000_e025/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3803653c609964289378ff01c5850cf3d2fd646a6c74411d13f7e47ac198512 +size 6801913 diff --git a/episodes/c6_p000_e026/data.npz b/episodes/c6_p000_e026/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..acb882e592911cc002d298b5effd14844fb221d0 --- /dev/null +++ b/episodes/c6_p000_e026/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2b722d844812c26478a057454d1018a5e6454d8f51430b4bd3666f074f1202b +size 192373 diff --git a/episodes/c6_p000_e026/device_events.jsonl b/episodes/c6_p000_e026/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6b85bc5067e3e10bb08b17b8a3fe4f92ba692c5b --- /dev/null +++ b/episodes/c6_p000_e026/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 204, "t": 1.02, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 204, "t": 1.02, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 209, "t": 1.045, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6476, "t": 32.38, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 7088, "t": 35.44, "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": 7088, "t": 35.44, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.961607595103819}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7088, "t": 35.44, "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": 7088, "t": 35.44, "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": 7088, "t": 35.44, "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": 7507, "t": 37.535, "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": 7507, "t": 37.535, "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": 7507, "t": 37.535, "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": 7507, "t": 37.535, "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": 7507, "t": 37.535, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7507, "t": 37.535, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7507, "t": 37.535, "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": 7507, "t": 37.535, "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": 7507, "t": 37.535, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.961607595103819}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 8500, "t": 42.5, "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": 8500, "t": 42.5, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.96500000000254}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8500, "t": 42.5, "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": 4.96500000000254}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8500, "t": 42.5, "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": 8500, "t": 42.5, "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": 8500, "t": 42.5, "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": 8920, "t": 44.6, "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": 8920, "t": 44.6, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.43655920282049e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8920, "t": 44.6, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.43655920282049e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8920, "t": 44.6, "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": 8920, "t": 44.6, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8920, "t": 44.6, "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": 9503, "t": 47.515, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 11244, "t": 56.22, "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": 33, "step": 11244, "t": 56.22, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11244, "t": 56.22, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 11244, "t": 56.22, "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/c6_p000_e026/env.mp4 b/episodes/c6_p000_e026/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..554289c161141a54a308a3497cde9cf445ec2628 --- /dev/null +++ b/episodes/c6_p000_e026/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b9347f8fca9cb80a92fec901e26c1c45f02b382cd24eb997dde815d67b8fca1 +size 1258780 diff --git a/episodes/c6_p000_e026/meta.json b/episodes/c6_p000_e026/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e0b13a9dc91db8efd0e53dadd6158d1f4ef4bbc4 --- /dev/null +++ b/episodes/c6_p000_e026/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/26", + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e026/scene_snapshot.json b/episodes/c6_p000_e026/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..72a79c114c2d37e9006e6903b489950589c02f55 --- /dev/null +++ b/episodes/c6_p000_e026/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 26, + "env_id": 0, + "run_id": "c6_p000", + "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_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": [ + 0.4785776138305664, + 0.06960201263427734, + 0.8999999761581421 + ], + "ori": [ + -0.706503689289093, + 0.0, + 0.0, + 0.7077093720436096 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.0277486247343166e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2116409240656512, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.22396070027066634, + "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": 0.2116409240656512, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3607950210571289, + 1.152653694152832, + 0.8999999761581421 + ], + "ori": [ + -0.01103258691728115, + -7.534273649412171e-09, + -5.007573911086638e-09, + 0.9999392032623291 + ], + "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": [ + -1.5363357253050935e-09, + -1.754760559080637e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 8.84169821802061e-08, + -1.401365494757556e-07, + -2.188342840270252e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2569255828857422, + 1.0786590576171875, + 0.8999999761581421 + ], + "ori": [ + -0.3073263466358185, + 1.2552852979297313e-08, + -1.389231840676075e-09, + 0.9516041874885559 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.7045530259783845e-09, + -9.179359494737582e-10, + 0.0 + ], + "angular_velocity": [ + -2.0081643015146255e-08, + -3.835884854197502e-08, + 2.285446498717647e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.07346343994140625, + 0.44739341735839844, + 0.8999999761581421 + ], + "ori": [ + -0.9999343752861023, + -3.3722156178583873e-09, + -1.4495982192386236e-10, + -0.011459740810096264 + ], + "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": [ + -2.8163027465666346e-12, + 5.827183735540586e-10, + 0.0 + ], + "angular_velocity": [ + -1.4938635217731644e-08, + -6.628528836927217e-10, + -1.1968124269401414e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6891088485717773, + 0.876185417175293, + 0.8999999761581421 + ], + "ori": [ + 0.6284038424491882, + 1.6663360469237887e-08, + -4.600585867819973e-08, + 0.7778872847557068 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.0947122642288605e-10, + 1.996970144801935e-09, + -7.450580596923828e-09 + ], + "angular_velocity": [ + -1.4357560473854392e-07, + 4.038406586914789e-08, + -4.592275448800365e-10 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.3611288070678711, + 1.1624412536621094, + 0.9179999828338623 + ], + "ori": [ + 0.08479927480220795, + -8.52776249615772e-09, + -4.858836000209976e-09, + 0.9963980317115784 + ], + "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": [ + 1.557759965464811e-08, + -3.7304161537576874e-08, + 1.4528632164001465e-07 + ], + "angular_velocity": [ + 9.520133517071372e-07, + 1.5786436051712371e-06, + 6.086806081384566e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -1.2579212188720703, + 1.0669822692871094, + 0.9180000424385071 + ], + "ori": [ + -0.39185231924057007, + 1.2630432877358544e-07, + -1.4234842637961265e-07, + 0.9200282096862793 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.68695498057059e-06, + -7.64442631862039e-07, + 1.7881393432617188e-07 + ], + "angular_velocity": [ + -1.4032761100679636e-05, + -3.186411413480528e-05, + -3.384209412615746e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -0.08455085754394531, + 0.43860626220703125, + 0.9180000424385071 + ], + "ori": [ + -0.9999086260795593, + -3.832899775346732e-09, + -6.778579919597405e-10, + 0.013519586063921452 + ], + "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": [ + -1.580533570688658e-08, + 1.423029694080924e-08, + -5.494803190231323e-06 + ], + "angular_velocity": [ + 2.6592402946334914e-07, + -2.1956766431685537e-06, + 3.618972499452866e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.6984338760375977, + 0.8834190368652344, + 0.9179999828338623 + ], + "ori": [ + 0.5938774347305298, + 1.2309658181663963e-08, + -4.726418367795304e-08, + 0.8045554757118225 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0697709384999143e-08, + -2.7027439841731393e-08, + -8.977949619293213e-07 + ], + "angular_velocity": [ + 8.655257488499046e-07, + 9.072953162103659e-07, + -1.1760314500008917e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 5.479999999999905, + "step": 1096, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 3.0277486247343166e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2116409240656512, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 891, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.21079501509666443, + 0.702653706073761, + 0.0 + ], + "carrier_2": [ + -1.4069255888462067, + 0.6286590695381165, + 0.0 + ], + "carrier_3": [ + -0.22346344590187073, + -0.0026065707206726074, + 0.0 + ], + "carrier_4": [ + 1.5391088426113129, + 0.4261854290962219, + 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": [ + 0.7504783459857213, + 0.23799558667041587, + 2.9049737271480445 + ], + "ori": [ + 1.140936665496497, + -10.952246049518086, + 9.433491891716344 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5240.412799810103, + "color": [ + 0.9895161186371513, + 0.9417006264616765, + 0.8642441858751763 + ], + "intensity": 6680.337818798473, + "width": 2.7612652899221626, + "height": 1.2650763113566137 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.3385744715561847, + 0.5819510377213335, + 1.9191200972193696 + ], + "ori": [ + -13.928700477703202, + -6.650116959453882, + -36.98208847808934 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4618.003688152252, + "color": [ + 0.7737938067187081, + 0.9806164088919948, + 0.8795541889922103 + ], + "intensity": 6172.8128918456405, + "radius": 0.3239158704045414 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1592.2227817066223, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141026139259338, + -1.719398021697998, + 2.0904994010925293, + -1.9419004917144775, + -1.5707999467849731, + 2.4849014282226562, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.3276386260986328, + -1.310531497001648, + 2.2796719074249268, + -2.5391829013824463, + -1.5708998441696167, + 6.039562225341797, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 1.1278499364852905, + -1.5986248254776, + 2.196244716644287, + -2.1684393882751465, + -1.5710580348968506, + 2.8344733715057373, + 0.007548448629677296, + 0.007678659167140722 + ], + [ + 2.530426025390625, + -2.156933546066284, + 2.566218614578247, + -1.9780153036117554, + -1.5704975128173828, + 4.102190971374512, + 0.01799999363720417, + 0.018000004813075066 + ] + ], + "joint_vel": [ + [ + 0.0, + 2.4589974241584175e-38, + 2.154370272037617e-38, + 2.8828355029246275e-37, + -5.873330188474156e-37, + -2.3865632976025734e-36, + -4.915371617591619e-38, + 5.876202738222145e-38 + ], + [ + -3.4059635254379828e-06, + 3.4059171412081923e-06, + 6.81192932461272e-06, + -5.682509584409301e-12, + 3.4059778499795357e-06, + 1.362391503789695e-05, + 1.819298347527365e-07, + 1.819285273541027e-07 + ], + [ + 0.003912909887731075, + 0.0023036871571093798, + 0.0015010409988462925, + -0.00441010482609272, + 0.002965070540085435, + 0.018069347366690636, + -0.003987337928265333, + 0.0002324703091289848 + ], + [ + 6.811910225223983e-06, + -2.027882028965422e-11, + 6.811937964812387e-06, + 3.405973302506027e-06, + -3.4059787594742374e-06, + -1.3623913218907546e-05, + 7.797709145052067e-08, + -7.79856179633498e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.053779251873493195, + 0.002327791415154934, + -0.029186980798840523, + -0.26593881845474243, + 0.6538109183311462, + 0.6502285599708557, + -0.281088262796402 + ], + [ + 0.04735124856233597, + -0.0011593967210501432, + -0.024974677711725235, + -0.28970950841903687, + 0.6464134454727173, + 0.6487849950790405, + -0.27802184224128723 + ], + [ + 0.04708326980471611, + -6.09939115747693e-06, + -0.02809915691614151, + -0.27728986740112305, + 0.6491310596466064, + 0.6417250037193298, + -0.29988041520118713 + ], + [ + 0.04915836825966835, + -0.0027968839276582003, + -0.027692407369613647, + -0.2877044081687927, + 0.6479120254516602, + 0.6492356061935425, + -0.2755528390407562 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e026/wrist.mp4 b/episodes/c6_p000_e026/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bc0c3652b2a6862e34961cc8a86742e35e3de00e --- /dev/null +++ b/episodes/c6_p000_e026/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31acbd2bba1515c83e48c5df0056b88bb1a57a93332c6bfa17e71c65db85cce8 +size 8569733 diff --git a/episodes/c6_p000_e027/data.npz b/episodes/c6_p000_e027/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..e25a3ee493e7dc0688074d34bdb64ec7e2d5d427 --- /dev/null +++ b/episodes/c6_p000_e027/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:815d267c0f9cc6d9130aee43c60b6030cccff9102e737b4f0dc29efe3469a486 +size 187330 diff --git a/episodes/c6_p000_e027/device_events.jsonl b/episodes/c6_p000_e027/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..906b1e64d9fe4b7af90184111e600bc49957e091 --- /dev/null +++ b/episodes/c6_p000_e027/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 78, "t": 0.39, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 78, "t": 0.39, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 83, "t": 0.415, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6275, "t": 31.375, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6888, "t": 34.44, "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": 6888, "t": 34.44, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.7883556405787986}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6888, "t": 34.44, "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": 6888, "t": 34.44, "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": 6888, "t": 34.44, "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": 7307, "t": 36.535, "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": 7307, "t": 36.535, "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": 7307, "t": 36.535, "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": 7307, "t": 36.535, "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": 7307, "t": 36.535, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7307, "t": 36.535, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7307, "t": 36.535, "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": 7307, "t": 36.535, "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": 7307, "t": 36.535, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.7883556405787986}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8065, "t": 40.325, "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": 8065, "t": 40.325, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.790000000001939}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8065, "t": 40.325, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.790000000001939}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8065, "t": 40.325, "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": 8065, "t": 40.325, "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": 8065, "t": 40.325, "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": 8485, "t": 42.425, "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": 8485, "t": 42.425, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8485, "t": 42.425, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8485, "t": 42.425, "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": 8485, "t": 42.425, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8485, "t": 42.425, "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": 9067, "t": 45.335, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10796, "t": 53.98, "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": 10796, "t": 53.98, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10796, "t": 53.98, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10796, "t": 53.98, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c6_p000_e027/env.mp4 b/episodes/c6_p000_e027/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4390fa4b8d8b92e293177b326560b122f7218556 --- /dev/null +++ b/episodes/c6_p000_e027/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7c624d3f999d6935d090cacc0ebd2f4b45710e8e29e8512e7ac4168207fac4f +size 1276293 diff --git a/episodes/c6_p000_e027/meta.json b/episodes/c6_p000_e027/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d9bda0be8fe9e37641407d6c646a993bcd7ffecb --- /dev/null +++ b/episodes/c6_p000_e027/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/27", + "fps": 25, + "frames": 1213, + "kept_ticks": "even", + "video_frames": { + "wrist": 1213, + "env": 1213 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e027/scene_snapshot.json b/episodes/c6_p000_e027/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..d4fb82ce8724092bc548699b6f2713c6782f27cf --- /dev/null +++ b/episodes/c6_p000_e027/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 27, + "env_id": 1, + "run_id": "c6_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5073986053466797, + 0.06928730010986328, + 0.8999999761581421 + ], + "ori": [ + -0.6957700252532959, + 0.0, + 0.0, + 0.718264639377594 + ], + "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": 0.17198606878220626, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.22169597431629587, + "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": 0.17198606878220626, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1462411880493164, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + 2.221895101683913e-06, + 1.1976644564981598e-08, + 2.9747879715102954e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.409849570421784e-09, + -1.5214829396370533e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 7.48130872807451e-08, + -1.2915586466988316e-07, + -1.8534439760742316e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6403589248657227, + 0.6096887588500977, + 0.8999999761581421 + ], + "ori": [ + 0.8782595992088318, + 2.1860259380446223e-08, + -2.7554975190469122e-08, + 0.47818419337272644 + ], + "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": [ + 6.885156333957809e-11, + 6.820558007269995e-11, + 0.0 + ], + "angular_velocity": [ + -8.095645043226796e-09, + 2.550361877240448e-08, + -2.8770004156797313e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.07108783721923828, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.8015831049211783e-09, + -3.4585470598536006e-10, + 3.381826900294982e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.37405581041628e-10, + 5.384835910504648e-10, + 0.0 + ], + "angular_velocity": [ + -5.681366133103438e-08, + -7.179794181411125e-08, + -4.065080716486591e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.9492063522338867, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 3.0058519769227132e-05, + 2.2628472706731628e-10, + 2.141030908120456e-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": [ + -3.303327389403421e-09, + -1.143762973221385e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + 1.0177992493254351e-07, + -3.3104686281149043e-07, + -4.161049282913609e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.1426849365234375, + 1.1524152755737305, + 0.9179999828338623 + ], + "ori": [ + -0.03367021679878235, + 1.3353609773503194e-08, + 6.821753717467516e-10, + 0.9994330406188965 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5633002448112165e-08, + -3.410255411395724e-09, + 1.5273690223693848e-07 + ], + "angular_velocity": [ + -4.271001330380386e-07, + 1.7817507114159525e-06, + -1.082970157995078e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.6286182403564453, + 0.612518310546875, + 0.9180000424385071 + ], + "ori": [ + 0.8598867654800415, + 2.052356151693857e-08, + -2.8381059280491172e-08, + 0.5104847550392151 + ], + "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": [ + -3.266583092909059e-08, + -1.3029447742951561e-08, + -6.087124347686768e-06 + ], + "angular_velocity": [ + 1.468611003474507e-06, + -1.2663542747759493e-06, + 1.8876814067425585e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -0.07348442077636719, + 0.4585838317871094, + 0.9179999828338623 + ], + "ori": [ + 0.9990814924240112, + -2.0457142646534976e-09, + 1.864748494506685e-10, + -0.042852334678173065 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1783392039887985e-08, + 1.0824556362365456e-08, + -5.5730342864990234e-06 + ], + "angular_velocity": [ + 8.24609855953895e-08, + -1.167061327578267e-06, + 9.934356626217777e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -0.9543323516845703, + 1.1425533294677734, + 0.9179999828338623 + ], + "ori": [ + 0.035397160798311234, + -1.009972327992159e-09, + 8.133584472602706e-09, + 0.9993733763694763 + ], + "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": [ + 3.94072792175848e-08, + 5.032518402003916e-08, + 2.3469328880310059e-07 + ], + "angular_velocity": [ + -1.959566816367442e-06, + 2.7342655357642798e-06, + -6.876362590446661e-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": 5.7199999999999, + "step": 1144, + "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": 0.17198606878220626, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1065, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.0037588179111480713, + 0.6999996304512024, + 0.0 + ], + "carrier_2": [ + 1.4903589189052582, + 0.1596887707710266, + 0.0 + ], + "carrier_3": [ + -0.22108784317970276, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_4": [ + -1.0992063581943512, + 0.6999967694282532, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.27381973390498315, + 0.3842666652383555, + 2.841306736393693 + ], + "ori": [ + 7.713310673227877, + 5.094322335468647, + -5.493652473584238 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3689.478301966357, + "color": [ + 0.897266851855768, + 0.8738476810535509, + 0.9896370201932203 + ], + "intensity": 8265.525798051425, + "width": 2.1676141361474306, + "height": 1.1429122949130488 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.9664459991812442, + 1.3775803601213588, + 2.4866437009354523 + ], + "ori": [ + 6.499679805258943, + -18.242155567020653, + 39.77148189789774 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5891.17539324208, + "color": [ + 0.8499312495529939, + 0.8822739181045203, + 0.8081833364388837 + ], + "intensity": 2255.2961313393025, + "radius": 0.24496689475721062 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1592.2227817066223, + "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": [ + [ + 2.0376381874084473, + -2.1726269721984863, + 2.6545937061309814, + -2.053638219833374, + -1.5719352960586548, + 3.6211209297180176, + 0.007175147067755461, + 0.006563930306583643 + ], + [ + 0.91410231590271, + -1.7193981409072876, + 2.090498924255371, + -1.9419002532958984, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.700228214263916, + -1.9672831296920776, + 1.9444258213043213, + -1.5497500896453857, + -1.5725136995315552, + 4.271944522857666, + 0.018000023439526558, + 0.017999975010752678 + ], + [ + 2.508923053741455, + -2.154507637023926, + 2.5754382610321045, + -1.9916948080062866, + -1.5708285570144653, + 4.099332809448242, + 0.007648318074643612, + 0.006867211777716875 + ] + ], + "joint_vel": [ + [ + 0.06442591547966003, + -0.04274551197886467, + 0.033827900886535645, + 0.00825918186455965, + -5.113741281093098e-05, + 0.06225615367293358, + -0.009004815481603146, + 8.347202674485743e-05 + ], + [ + -2.536034648013753e-38, + 1.556128211907759e-38, + 3.8659596566163427e-38, + 5.217223862441425e-37, + -3.9777863569260846e-38, + 4.225789728596571e-37, + 2.5990372520823257e-08, + -2.5990386731677972e-08 + ], + [ + -0.010215054266154766, + -0.02247025817632675, + 0.012613181956112385, + 0.009005574509501457, + 7.305099188670283e-06, + -0.010340853594243526, + -3.5934683637606213e-06, + 3.593689825720503e-06 + ], + [ + -0.015496979467570782, + -0.00022265319421421736, + -0.001063531031832099, + 0.0009433699306100607, + 0.0003393109072931111, + -0.00036520324647426605, + -0.009810305200517178, + 0.00028251344338059425 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.053527895361185074, + 6.95201160851866e-05, + -0.02807130664587021, + -0.2690901458263397, + 0.6552969217300415, + 0.646801233291626, + -0.28253257274627686 + ], + [ + 0.04698238894343376, + 4.774521949002519e-05, + -0.028160879388451576, + -0.28518277406692505, + 0.6440913081169128, + 0.6516867280006409, + -0.2812855839729309 + ], + [ + 0.05031595751643181, + 0.0021267118863761425, + -0.029501061886548996, + -0.27504146099090576, + 0.6500013470649719, + 0.6436535716056824, + -0.29590630531311035 + ], + [ + 0.04697253927588463, + -0.0019784211181104183, + -0.029308948665857315, + -0.2871497571468353, + 0.6463196277618408, + 0.6516883969306946, + -0.27407702803611755 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e027/wrist.mp4 b/episodes/c6_p000_e027/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f35ff505b49edb55fe3c4f86d18794d7de0489a5 --- /dev/null +++ b/episodes/c6_p000_e027/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:269137613f13e66627f60ffcd6eaace986999153f6df601ae10b253f3a3deb18 +size 8059121 diff --git a/episodes/c6_p000_e028/data.npz b/episodes/c6_p000_e028/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..bddde0eda7e223dbc7a246104305ee4705b3b509 --- /dev/null +++ b/episodes/c6_p000_e028/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af86bb6b0f0f1fc2d1c685b405294654a24e73992d90cbcfe02435829ec0d411 +size 200640 diff --git a/episodes/c6_p000_e028/device_events.jsonl b/episodes/c6_p000_e028/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3182979d8ffd07ed4741b63ebf1d29281e675ba0 --- /dev/null +++ b/episodes/c6_p000_e028/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 127, "t": 0.635, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 127, "t": 0.635, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 132, "t": 0.66, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6658, "t": 33.29, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7272, "t": 36.36, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 7272, "t": 36.36, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.856899450556607}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7272, "t": 36.36, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 7272, "t": 36.36, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 7272, "t": 36.36, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7691, "t": 38.455, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7691, "t": 38.455, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7691, "t": 38.455, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7691, "t": 38.455, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7691, "t": 38.455, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7691, "t": 38.455, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7691, "t": 38.455, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7691, "t": 38.455, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7691, "t": 38.455, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.856899450556607}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8063, "t": 40.315, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 8063, "t": 40.315, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.8600000000009516}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8063, "t": 40.315, "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": 1.8600000000009516}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8063, "t": 40.315, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 8063, "t": 40.315, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 8063, "t": 40.315, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8483, "t": 42.415, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8483, "t": 42.415, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8483, "t": 42.415, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8483, "t": 42.415, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8483, "t": 42.415, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8483, "t": 42.415, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 9063, "t": 45.315, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 11292, "t": 56.46, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 11292, "t": 56.46, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11292, "t": 56.46, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11292, "t": 56.46, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c6_p000_e028/env.mp4 b/episodes/c6_p000_e028/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..39b26b6285d8c95a047b0faa516cb0e9fa01e904 --- /dev/null +++ b/episodes/c6_p000_e028/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2352b65b118dcea6f2e4ece56a6525ffe893a0072cdce2048e1b3d2aae13c943 +size 1377431 diff --git a/episodes/c6_p000_e028/meta.json b/episodes/c6_p000_e028/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7d58ef83ae309e4eb6ae852a20ed4e0a9458eb9e --- /dev/null +++ b/episodes/c6_p000_e028/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/28", + "fps": 25, + "frames": 1223, + "kept_ticks": "even", + "video_frames": { + "wrist": 1223, + "env": 1223 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e028/scene_snapshot.json b/episodes/c6_p000_e028/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..055fd92325cdcd9cb05e7aac86b043843823f2b4 --- /dev/null +++ b/episodes/c6_p000_e028/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 28, + "env_id": 3, + "run_id": "c6_p000", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 0.5043811798095703, + 0.1029367446899414, + 0.8999999761581421 + ], + "ori": [ + -0.6904402375221252, + 0.0, + 0.0, + 0.7233894467353821 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.3919126068456844e-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": 0.2999998588855749, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.16677716673327034, + "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": 0.2999998588855749, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3571577072143555, + 0.9619340896606445, + 0.8999999761581421 + ], + "ori": [ + -0.508149266242981, + 3.985211094459373e-08, + -1.722402309667359e-08, + 0.8612690567970276 + ], + "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": [ + 6.061781632205054e-11, + -4.244992413138249e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 4.476742532233402e-08, + 5.387963852854227e-09, + 2.73066014244705e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.06248760223388672, + 1.153193473815918, + 0.8999999761581421 + ], + "ori": [ + -0.004517388064414263, + 1.0178948794958842e-09, + 2.6215063453349785e-09, + 0.9999898076057434 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.51774181900555e-10, + -1.4659362612690074e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 8.882739166438114e-08, + 5.89098760883644e-08, + -5.879550180054594e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.01648235321044922, + 0.44754981994628906, + 0.8999999761581421 + ], + "ori": [ + 0.999946653842926, + -7.385524414260658e-10, + -3.8623002573956455e-09, + 0.01033912505954504 + ], + "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": [ + 1.4780177082229784e-11, + -1.6391679125149494e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 1.755348648657673e-07, + -9.83174572866119e-08, + 1.8705925697304338e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6157073974609375, + 0.5766935348510742, + 0.8999999761581421 + ], + "ori": [ + 0.910706102848053, + 4.289496757792222e-09, + 2.2301360758092414e-08, + 0.41305509209632874 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.050251245502068e-10, + -4.5047809926757054e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 5.0854325195359706e-08, + 5.7754746762839204e-08, + -5.452536200323266e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -1.3514556884765625, + 0.9636125564575195, + 0.9179999828338623 + ], + "ori": [ + -0.5525362491607666, + 3.895901556916215e-08, + -1.676950134310573e-08, + 0.833488941192627 + ], + "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": [ + -9.679187229494346e-09, + 2.4427805556115345e-08, + 1.0803341865539551e-07 + ], + "angular_velocity": [ + -2.129364702341263e-06, + -5.132295086696104e-07, + 1.1076762618245084e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.05745887756347656, + 1.158304214477539, + 0.9180000424385071 + ], + "ori": [ + -0.07699497044086456, + 2.6775832662195853e-09, + 3.0284919017020684e-09, + 0.997031569480896 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.2602343108246714e-08, + -9.56473122926127e-09, + -6.057322025299072e-06 + ], + "angular_velocity": [ + -1.1967611044383375e-06, + 2.0177596979920054e-06, + 1.101108679790741e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -0.026322364807128906, + 0.4520149230957031, + 0.9180000424385071 + ], + "ori": [ + 0.9937999248504639, + -6.16447448642532e-10, + -4.863730307391734e-09, + 0.11118318140506744 + ], + "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": [ + -2.6108503803357053e-08, + -4.506515693947222e-08, + -5.364418029785156e-06 + ], + "angular_velocity": [ + 1.8131681827071588e-06, + -1.7751896166373626e-06, + 1.139918310855137e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.6140775680541992, + 0.5882167816162109, + 0.9179999828338623 + ], + "ori": [ + 0.8912687301635742, + 7.999657825052964e-09, + 2.3962295259138955e-08, + 0.45347562432289124 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.1078600077071314e-08, + -8.566874498683319e-08, + -6.631016731262207e-07 + ], + "angular_velocity": [ + 3.074010237469338e-06, + 9.465503580941004e-08, + 2.412863864265091e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 7.6799999999998585, + "step": 1536, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.3919126068456844e-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": 0.2999998588855749, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1408, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.50715771317482, + 0.5119341015815735, + 0.0 + ], + "carrier_2": [ + -0.08751240372657776, + 0.7031934857368469, + 0.0 + ], + "carrier_3": [ + -0.1664823591709137, + -0.0024501681327819824, + 0.0 + ], + "carrier_4": [ + 1.465707391500473, + 0.12669354677200317, + 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": [ + 0.41648840848548774, + -0.4028881337988064, + 2.714308282971758 + ], + "ori": [ + 7.580218420300479, + -3.413981823200489, + -29.993023882524678 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3784.991798931186, + "color": [ + 0.8868793155185236, + 0.9513834424670035, + 0.9230791640089908 + ], + "intensity": 12050.225462093607, + "width": 1.9332707096850972, + "height": 0.821631053117145 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.3812592090956217, + 1.5531936652062208, + 2.3411245335586184 + ], + "ori": [ + 26.39075032620454, + 14.875755268925452, + 18.957861728639656 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4102.370390020342, + "color": [ + 0.8537153012412111, + 0.7773878210249412, + 0.9192284331111165 + ], + "intensity": 7884.601964106611, + "radius": 0.19094573021937533 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1592.2227817066223, + "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": [ + [ + -0.15387888252735138, + -2.1244394779205322, + 2.713771104812622, + -2.160144567489624, + -1.5707790851593018, + 4.496130466461182, + 0.007390949409455061, + 0.0066529735922813416 + ], + [ + -0.25847122073173523, + -2.260205030441284, + 2.3538639545440674, + -1.6636526584625244, + -1.5711610317230225, + 4.417422294616699, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.1350241899490356, + -1.317519187927246, + 2.265132188796997, + -2.518941640853882, + -1.5704623460769653, + 2.6996099948883057, + 0.017999984323978424, + 0.018000014126300812 + ], + [ + 0.9141094088554382, + -1.7193950414657593, + 2.0904972553253174, + -1.941900372505188, + -1.5707999467849731, + 2.4849050045013428, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -1.3623262930195779e-05, + -0.011313468217849731, + -0.008584258146584034, + 0.018991369754076004, + 0.0003619701019488275, + -0.0009510571835562587, + -0.009778694249689579, + 0.00019400934979785234 + ], + [ + -2.5544650270603597e-06, + 1.3594463228738807e-11, + -6.811945240770001e-06, + 1.0217938324785791e-05, + 6.811955699959071e-06, + -3.371927574397776e-13, + 2.5989320917574332e-08, + -2.5990736673975334e-08 + ], + [ + 9.783898713067174e-05, + -0.012083974666893482, + -0.0037966622039675713, + 0.015106610022485256, + 8.59438569023041e-06, + -1.3221303561294917e-05, + 5.717944077332504e-06, + -5.717238309443928e-06 + ], + [ + 2.703484769826097e-38, + -1.888781053055363e-38, + 1.9376605855685555e-38, + -3.5578737075220185e-37, + 3.347699789194445e-37, + -2.570531858450052e-36, + 2.5990386731677972e-08, + -2.599036719175274e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05496380850672722, + 0.00037568112020380795, + -0.02732953615486622, + -0.271994411945343, + 0.6481296420097351, + 0.6527867317199707, + -0.2825181484222412 + ], + [ + 0.04941776022315025, + -9.087062062462792e-05, + -0.02712869644165039, + -0.288417249917984, + 0.6421111226081848, + 0.6550012230873108, + -0.27474015951156616 + ], + [ + 0.048219580203294754, + 0.002938966266810894, + -0.028336817398667336, + -0.27677619457244873, + 0.6573082208633423, + 0.6338560581207275, + -0.2992780804634094 + ], + [ + 0.04867066815495491, + -0.0012108009541407228, + -0.028942033648490906, + -0.2812076508998871, + 0.6501308083534241, + 0.6510717868804932, + -0.2726861238479614 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e028/wrist.mp4 b/episodes/c6_p000_e028/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..197aa3687cfe63382517949bc0c4018e8f99ed1e --- /dev/null +++ b/episodes/c6_p000_e028/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b38dc03c83988380030309500764e88e22790fb977409b18cd37e6999164277e +size 7570795 diff --git a/episodes/c6_p000_e029/data.npz b/episodes/c6_p000_e029/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..781509f85567ca7ed61b77e2e0f5a99da413e881 --- /dev/null +++ b/episodes/c6_p000_e029/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:acc7e6a1460d3ef95315a3ed34767852cb649dc47c7b0a886b3ed8d395345509 +size 183549 diff --git a/episodes/c6_p000_e029/device_events.jsonl b/episodes/c6_p000_e029/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..58c5ddb90e32d3f31166a13d64f924183bb889a6 --- /dev/null +++ b/episodes/c6_p000_e029/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 157, "t": 0.785, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 157, "t": 0.785, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 162, "t": 0.81, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6616, "t": 33.08, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 7228, "t": 36.14, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 6, "step": 7228, "t": 36.14, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.6168216888610196}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7228, "t": 36.14, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 8, "step": 7228, "t": 36.14, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 7228, "t": 36.14, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 7647, "t": 38.235, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 7647, "t": 38.235, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 7647, "t": 38.235, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7647, "t": 38.235, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7647, "t": 38.235, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7647, "t": 38.235, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7647, "t": 38.235, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 17, "step": 7647, "t": 38.235, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 7647, "t": 38.235, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.6168216888610196}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 8171, "t": 40.855, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 8171, "t": 40.855, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.6200000000013404}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 8171, "t": 40.855, "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": 2.6200000000013404}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8171, "t": 40.855, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 23, "step": 8171, "t": 40.855, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 8171, "t": 40.855, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 8591, "t": 42.955, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 8591, "t": 42.955, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 8.05368784995153e-08}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8591, "t": 42.955, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 8.05368784995153e-08}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8591, "t": 42.955, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8591, "t": 42.955, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8591, "t": 42.955, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 9171, "t": 45.855, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 10820, "t": 54.1, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 33, "step": 10820, "t": 54.1, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10820, "t": 54.1, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10820, "t": 54.1, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c6_p000_e029/env.mp4 b/episodes/c6_p000_e029/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..403c7855fdb6390b4edba85ee10adee2c2083291 --- /dev/null +++ b/episodes/c6_p000_e029/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58e46a4258a7c03623cdc3e3d75d9d97a5115f04afbed9f2f94aa91e6d301fb5 +size 1266345 diff --git a/episodes/c6_p000_e029/meta.json b/episodes/c6_p000_e029/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..453c447438fbbe87df5cef1950e17fa66db8a862 --- /dev/null +++ b/episodes/c6_p000_e029/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/29", + "fps": 25, + "frames": 1171, + "kept_ticks": "even", + "video_frames": { + "wrist": 1171, + "env": 1171 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e029/scene_snapshot.json b/episodes/c6_p000_e029/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..e771f7f830d543bcdf22c3357e48951fc5c4e08f --- /dev/null +++ b/episodes/c6_p000_e029/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 29, + "env_id": 2, + "run_id": "c6_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46108436584472656, + 0.05295372009277344, + 0.8999999761581421 + ], + "ori": [ + 0.7118666768074036, + 0.0, + 0.0, + -0.7023146152496338 + ], + "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": [ + 1.3456661999977637e-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": 0.15659714219855855, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.04523891424422344, + "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": 0.15659714219855855, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.396590232849121, + 0.8214511871337891, + 0.8999999761581421 + ], + "ori": [ + -0.6839087605476379, + 5.853553375345655e-08, + 1.235886060158009e-07, + 0.7295675873756409 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.826632001211692e-07, + 1.2598363809956936e-06, + -2.8423964977264404e-06 + ], + "angular_velocity": [ + -0.00010838851449079812, + 1.6558216884732246e-05, + 4.0493864617019426e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.10483837127685547, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -2.5087318888949994e-09, + -1.4254190883189466e-10, + 5.0962767090823036e-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": [ + -8.24067258875516e-10, + 2.430795120744733e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.2163540930032468e-07, + -8.191525324718896e-08, + 5.906892752705062e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5864372253417969, + 1.152277946472168, + 0.8999999761581421 + ], + "ori": [ + -0.013972126878798008, + 5.904650657306831e-10, + 4.015316079630793e-09, + 0.9999024271965027 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.765663171227061e-10, + 8.316499489069429e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.0639784281684115e-07, + -3.0424629926528723e-08, + 3.468235831860511e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5962324142456055, + 0.5550775527954102, + 0.8999999761581421 + ], + "ori": [ + 0.9227407574653625, + 3.9428277309738746e-10, + -1.7194391688235555e-08, + 0.3854210674762726 + ], + "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": [ + 1.5840700973157595e-09, + -1.3136651766387786e-09, + 0.0 + ], + "angular_velocity": [ + -3.621742195036859e-08, + -3.254898217619484e-08, + 3.0086646063409717e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.3867111206054688, + 0.8091564178466797, + 0.9179999828338623 + ], + "ori": [ + -0.6227225065231323, + 4.2505842401396876e-08, + 1.2631586798761418e-07, + 0.7824426889419556 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.689834215947485e-07, + 2.8310512334428495e-06, + -1.650303602218628e-06 + ], + "angular_velocity": [ + -0.00010904706141445786, + 1.555602102598641e-05, + 1.1811039257736411e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.09186458587646484, + 0.44339847564697266, + 0.9180000424385071 + ], + "ori": [ + 0.9949562549591064, + -4.166045286524422e-09, + 3.645970192422965e-10, + -0.10031042248010635 + ], + "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": [ + -1.2902265922321021e-08, + 3.08339593857454e-08, + -5.286186933517456e-06 + ], + "angular_velocity": [ + -8.837091058921942e-07, + -1.5341569223892293e-06, + 9.345910001457014e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.5969457626342773, + 1.1441278457641602, + 0.9180000424385071 + ], + "ori": [ + -0.017547326162457466, + -1.8513494903782401e-10, + 3.907208334652523e-09, + 0.9998460412025452 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.4687143702381036e-09, + 9.233743725189925e-08, + -5.7443976402282715e-06 + ], + "angular_velocity": [ + -2.411110699540586e-06, + 1.6217167058130144e-06, + -1.1719993153747055e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.6013336181640625, + 0.5454635620117188, + 0.9179999828338623 + ], + "ori": [ + 0.8801475763320923, + -2.0518282628501083e-09, + -1.83304749157287e-08, + 0.47470030188560486 + ], + "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": [ + -5.567120453520147e-08, + -3.839919315851148e-08, + -1.3150274753570557e-06 + ], + "angular_velocity": [ + 1.7748830032360274e-06, + -1.7191348433698295e-06, + 7.279801650383888e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 7.559999999999861, + "step": 1512, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 1.3456661999977637e-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": 0.15659714219855855, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1354, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5465902388095856, + 0.371451199054718, + 0.0 + ], + "carrier_2": [ + -0.04516163468360901, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_3": [ + 0.4364372193813324, + 0.7022779583930969, + 0.0 + ], + "carrier_4": [ + 1.446232408285141, + 0.10507756471633911, + 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": [ + -0.4630700466757568, + -0.30857902464116793, + 3.1598627083149333 + ], + "ori": [ + 11.37838110168132, + 2.4562503363157013, + 25.171759982446382 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3469.885990565705, + "color": [ + 0.8321193360243232, + 0.8317365926043221, + 0.8989307949126693 + ], + "intensity": 6727.084589505335, + "width": 2.4499423850611475, + "height": 0.9118444288507708 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.9614089262587799, + 1.1131672327656632, + 2.042104325504847 + ], + "ori": [ + 7.786435465090648, + -12.657297777456904, + 35.84151064226036 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5800.131289112038, + "color": [ + 0.868596797683064, + 0.8263192414975699, + 0.8400335540990893 + ], + "intensity": 1733.120516881019, + "radius": 0.0803872617257129 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1592.2227817066223, + "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": [ + [ + 1.1347354650497437, + -1.576902985572815, + 2.0681519508361816, + -2.0278897285461426, + -1.5865753889083862, + 2.6971936225891113, + 0.017999963834881783, + 0.018000034615397453 + ], + [ + 0.2707073390483856, + -1.9667729139328003, + 2.334347724914551, + -1.9395217895507812, + -1.570391297340393, + 3.7448344230651855, + 0.007208914961665869, + 0.006522075273096561 + ], + [ + 0.9141026139259338, + -1.7193981409072876, + 2.090498685836792, + -1.9419000148773193, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.576188325881958, + -2.175110340118408, + 2.0426125526428223, + -1.4385817050933838, + -1.5707049369812012, + 4.14939022064209, + 0.007667048834264278, + 0.0069753434509038925 + ] + ], + "joint_vel": [ + [ + 4.0402341255685315e-05, + -0.0023717349395155907, + -0.0026670193765312433, + 0.00482066860422492, + -5.37278174306266e-06, + 2.0399646018631756e-05, + 1.9092438208190288e-07, + -1.9085072722191398e-07 + ], + [ + 0.05929586663842201, + 0.03091874159872532, + -0.011207640171051025, + -0.0197756290435791, + 3.999241016572341e-05, + -0.07169416546821594, + -0.009354404173791409, + 0.0003506508655846119 + ], + [ + 2.3478660481466736e-38, + 0.0, + -4.241889078497383e-38, + -5.193749310567056e-37, + 6.33335069042025e-37, + 1.0522553076632686e-37, + 2.599036363903906e-08, + -2.5990386731677972e-08 + ], + [ + 0.01832209900021553, + 0.025638706982135773, + -0.009554377757012844, + -0.015613473020493984, + 7.562696737295482e-06, + 0.01839347556233406, + -0.00877528265118599, + 0.0003023868484888226 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05136331543326378, + 0.0002860254899132997, + -0.026969391852617264, + -0.2719961702823639, + 0.6557083129882812, + 0.6442931890487671, + -0.2845187783241272 + ], + [ + 0.04998885467648506, + -0.00010962462692987174, + -0.02662627585232258, + -0.2833544611930847, + 0.64607173204422, + 0.6505885124206543, + -0.2811337113380432 + ], + [ + 0.05103572830557823, + -0.0003630725259426981, + -0.027071958407759666, + -0.27552005648612976, + 0.654379665851593, + 0.6386007070541382, + -0.2967575192451477 + ], + [ + 0.0486103855073452, + -0.0024228771217167377, + -0.030198782682418823, + -0.2860282063484192, + 0.644636869430542, + 0.6523803472518921, + -0.27754467725753784 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e029/wrist.mp4 b/episodes/c6_p000_e029/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..79000a019125d00c73fbc719a13df6565347a072 --- /dev/null +++ b/episodes/c6_p000_e029/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd6ac11ebc5f7f22ec65c7544a8d390f86ed5c36a3c3976aebdd0d41a2af72e7 +size 6430319 diff --git a/episodes/c6_p000_e030/data.npz b/episodes/c6_p000_e030/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..dfd6c044926590d5a379a562771d55893a8cca67 --- /dev/null +++ b/episodes/c6_p000_e030/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68147c65948e46b12110e628743d7e4f4cf19fc976092988d24ac2d0b1e5e4d3 +size 191130 diff --git a/episodes/c6_p000_e030/device_events.jsonl b/episodes/c6_p000_e030/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..50cde61097ae7618aa654c79dd3ea9a6b61ee22f --- /dev/null +++ b/episodes/c6_p000_e030/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 129, "t": 0.645, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 129, "t": 0.645, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 134, "t": 0.67, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 7199, "t": 35.995, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 7808, "t": 39.04, "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": 7808, "t": 39.04, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.5652501369535643}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7808, "t": 39.04, "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": 7808, "t": 39.04, "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": 7808, "t": 39.04, "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": 8227, "t": 41.135, "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": 8227, "t": 41.135, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.29999998211860657}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 8227, "t": 41.135, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.29999998211860657}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 8227, "t": 41.135, "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": 8227, "t": 41.135, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 8227, "t": 41.135, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 8227, "t": 41.135, "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": 8227, "t": 41.135, "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": 8227, "t": 41.135, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.5652501369535643}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 8541, "t": 42.705, "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": 8541, "t": 42.705, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.5700000000008032}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8541, "t": 42.705, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.5700000000008032}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8541, "t": 42.705, "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": 8541, "t": 42.705, "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": 8541, "t": 42.705, "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": 8960, "t": 44.8, "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": 8960, "t": 44.8, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.584680913741977e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8960, "t": 44.8, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.584680913741977e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8960, "t": 44.8, "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": 8960, "t": 44.8, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8960, "t": 44.8, "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": 9543, "t": 47.715, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 11308, "t": 56.54, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 33, "step": 11308, "t": 56.54, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11308, "t": 56.54, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 11308, "t": 56.54, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c6_p000_e030/env.mp4 b/episodes/c6_p000_e030/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8a210118ded6a6a01935c9b088ce80c77f030064 --- /dev/null +++ b/episodes/c6_p000_e030/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f3ab27a0a42b15aba0f9598cb9e2a320f87e5ff993d932c4deed92c315beccc +size 1258583 diff --git a/episodes/c6_p000_e030/meta.json b/episodes/c6_p000_e030/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c635e1c345ec63fe829669f3006763a83358072c --- /dev/null +++ b/episodes/c6_p000_e030/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/30", + "fps": 25, + "frames": 1209, + "kept_ticks": "even", + "video_frames": { + "wrist": 1209, + "env": 1209 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e030/scene_snapshot.json b/episodes/c6_p000_e030/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..b78b7c3a58d6aa911a16bf875c8367d179ff10e2 --- /dev/null +++ b/episodes/c6_p000_e030/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 30, + "env_id": 0, + "run_id": "c6_p000", + "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_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": [ + 0.4785776138305664, + 0.06960201263427734, + 0.8999999761581421 + ], + "ori": [ + -0.706503689289093, + 0.0, + 0.0, + 0.7077093720436096 + ], + "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": 0.20395857836751008, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.11093936557639203, + "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": 0.20395857836751008, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6965970993041992, + 0.7782020568847656, + 0.8999999761581421 + ], + "ori": [ + 0.733711838722229, + -3.867541664703822e-08, + 2.8468210899745827e-08, + 0.6794607639312744 + ], + "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": [ + -1.4562120043137838e-07, + 3.278877613865916e-09, + 6.705522537231445e-08 + ], + "angular_velocity": [ + -1.5991129203030141e-06, + -3.714344074978726e-06, + -1.4943698261049576e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3038997650146484, + 0.5625896453857422, + 0.8999999761581421 + ], + "ori": [ + -0.9142130613327026, + 8.111987881420646e-08, + 9.773503961696406e-08, + 0.4052339792251587 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.069630439422326e-07, + 8.103476716314617e-07, + -2.4996697902679443e-06 + ], + "angular_velocity": [ + -6.922076863702387e-05, + -6.751563341822475e-05, + -1.6109225953186979e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5898828506469727, + 1.1529760360717773, + 0.8999999761581421 + ], + "ori": [ + -0.008386338129639626, + -9.639705700337231e-12, + -3.6753202703465604e-09, + 0.9999648332595825 + ], + "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": [ + 2.867041049015029e-10, + -8.383984617665874e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 4.8271022734525104e-08, + 2.191559289599354e-08, + -8.299748444073884e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.038641929626464844, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.883395439605806e-09, + 2.758715755835084e-10, + -1.0031247256847564e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.910805261384212e-11, + 2.7209652309068133e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.7048444078682223e-07, + -2.1609416478440835e-08, + -2.3763906398244217e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.6893482208251953, + 0.7711668014526367, + 0.9179999828338623 + ], + "ori": [ + 0.7280232310295105, + 5.071295277048193e-07, + 4.329893386056938e-07, + 0.6855525374412537 + ], + "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": [ + -6.738452157151187e-06, + 4.332028311182512e-06, + -5.848705768585205e-07 + ], + "angular_velocity": [ + -2.8504669899120927e-05, + -0.00013245188165456057, + 2.0766350644407794e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -1.3097877502441406, + 0.5654840469360352, + 0.9179999828338623 + ], + "ori": [ + -0.9076145887374878, + 7.197162688044045e-08, + 9.692290348084498e-08, + 0.41980448365211487 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.6295033447022433e-06, + 1.6408821466029622e-06, + -3.043562173843384e-06 + ], + "angular_velocity": [ + -6.945885979803279e-05, + -6.869951175758615e-05, + -2.0286127266899712e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.579442024230957, + 1.1563243865966797, + 0.9180000424385071 + ], + "ori": [ + -0.0842142179608345, + 1.5698216337955984e-10, + -3.005331761229968e-09, + 0.996447741985321 + ], + "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": [ + 1.0751679546672221e-08, + -5.72326408487811e-09, + -5.8002769947052e-06 + ], + "angular_velocity": [ + -6.087858537284774e-07, + 1.6395576949435053e-06, + -1.183533093751521e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.046512603759765625, + 0.4466972351074219, + 0.9179999828338623 + ], + "ori": [ + 0.9997265338897705, + -2.8875846158626928e-09, + 1.4348316978995967e-09, + 0.023384148254990578 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.176100697530273e-08, + 1.089349410676732e-08, + -1.12876296043396e-06 + ], + "angular_velocity": [ + 5.921311867496115e-07, + -2.0194361241010483e-06, + 1.632349295732638e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 8.37999999999991, + "step": 1676, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 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": 0.20395857836751008, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1546, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5465970933437347, + 0.3282020688056946, + 0.0 + ], + "carrier_2": [ + -1.453899770975113, + 0.11258965730667114, + 0.0 + ], + "carrier_3": [ + 0.4398828446865082, + 0.7029760479927063, + 0.0 + ], + "carrier_4": [ + -0.11135807633399963, + -1.7881393432617188e-07, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.44955486960688795, + 0.45388583512317227, + 3.122500105031773 + ], + "ori": [ + -2.769465068609552, + 12.797459098038964, + -4.978599126337013 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4737.637082459741, + "color": [ + 0.8815134504827435, + 0.8560863169947831, + 0.9605708318941899 + ], + "intensity": 14075.819030627645, + "width": 2.5089768263706347, + "height": 0.848489209337032 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.9661400431490466, + 1.0400936083589774, + 2.2059137205682973 + ], + "ori": [ + 0.15684121334140855, + 8.862691424958761, + -6.869200023190267 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6196.705226470787, + "color": [ + 0.919866077151969, + 0.9955852483520381, + 0.8453834073232789 + ], + "intensity": 3787.2575355765107, + "radius": 0.33261449377966135 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1187.0108031348204, + "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": [ + [ + 0.9141027927398682, + -1.7193979024887085, + 2.0905003547668457, + -1.9419010877609253, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.0558247566223145, + -1.6141080856323242, + 2.1521544456481934, + -2.1088035106658936, + -1.5707963705062866, + 2.657792091369629, + 0.018000945448875427, + 0.017999056726694107 + ], + [ + 2.370419979095459, + -2.440619707107544, + 2.4621541500091553, + -1.5922822952270508, + -1.5708327293395996, + 3.9408140182495117, + 0.007744137197732925, + 0.007103351876139641 + ], + [ + 2.799807071685791, + -1.704596996307373, + 1.7633763551712036, + -1.6295982599258423, + -1.570826768875122, + 4.370358467102051, + 0.0076561057940125465, + 0.0069691771641373634 + ] + ], + "joint_vel": [ + [ + 1.7029814216584782e-06, + 3.4059341942338506e-06, + -1.1052594603433441e-11, + 3.4059762583638076e-06, + -3.405978077353211e-06, + 6.874171371018534e-13, + -2.915358655441319e-15, + 8.159007866027912e-13 + ], + [ + 0.02431885525584221, + 0.018453562632203102, + 0.010909468866884708, + -0.02811845764517784, + 4.6341207053046674e-05, + 0.0292130708694458, + 1.925576725625433e-05, + -1.9284585505374707e-05 + ], + [ + 0.023746997117996216, + 0.02881195954978466, + -0.005908431950956583, + -0.022820986807346344, + 0.00037608345155604184, + 0.02231755293905735, + -0.007886301726102829, + 0.00032599750556983054 + ], + [ + -0.004169165622442961, + -0.013923603110015392, + 0.011338973417878151, + 0.002108705462887883, + -3.724380803760141e-05, + -0.004308982286602259, + -0.008831710554659367, + 0.00017264619236811996 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.052295684814453125, + -0.0004835277795791626, + -0.026929331943392754, + -0.2727387547492981, + 0.655778706073761, + 0.6434162259101868, + -0.2856281101703644 + ], + [ + 0.04678008332848549, + 0.00040590748540125787, + -0.02709462121129036, + -0.29013293981552124, + 0.6432234048843384, + 0.6481298804283142, + -0.28638124465942383 + ], + [ + 0.047363996505737305, + 0.0011137076653540134, + -0.030376948416233063, + -0.2740442752838135, + 0.6538917422294617, + 0.6391056180000305, + -0.29810959100723267 + ], + [ + 0.048114947974681854, + -0.0009444918832741678, + -0.028019508346915245, + -0.28706642985343933, + 0.643923282623291, + 0.651618242263794, + -0.2799094617366791 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e030/wrist.mp4 b/episodes/c6_p000_e030/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c32ade0c47ffeb1eb4ee7de66a3569dd32b2b8cc --- /dev/null +++ b/episodes/c6_p000_e030/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e7c1f76d0396a36b7c1eeb0244eadedabdf8bfde4627f45e396f3ff77f5c056 +size 6799430 diff --git a/episodes/c6_p000_e031/data.npz b/episodes/c6_p000_e031/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..9226a71efb640f833564b159ec2dbdd47bf8d393 --- /dev/null +++ b/episodes/c6_p000_e031/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c7b81b1ab97d5f8a191b04251ffb0dcdabf4c78a46a2a1c89e06043b4ec7a96 +size 198692 diff --git a/episodes/c6_p000_e031/device_events.jsonl b/episodes/c6_p000_e031/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..784a18a9f08124a5a1846304e4cb42c4d1187319 --- /dev/null +++ b/episodes/c6_p000_e031/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 35, "t": 0.175, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 35, "t": 0.175, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 40, "t": 0.2, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 5699, "t": 28.495, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6308, "t": 31.54, "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": 6308, "t": 31.54, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.515072639790389}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6308, "t": 31.54, "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": 6308, "t": 31.54, "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": 6308, "t": 31.54, "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": 6727, "t": 33.635, "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": 6727, "t": 33.635, "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": 6727, "t": 33.635, "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": 6727, "t": 33.635, "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": 6727, "t": 33.635, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 6727, "t": 33.635, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6727, "t": 33.635, "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": 6727, "t": 33.635, "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": 6727, "t": 33.635, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.515072639790389}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7431, "t": 37.155, "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": 7431, "t": 37.155, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.520000000001801}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7431, "t": 37.155, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.520000000001801}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7431, "t": 37.155, "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": 7431, "t": 37.155, "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": 7431, "t": 37.155, "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": 7851, "t": 39.255, "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": 7851, "t": 39.255, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.0224329161090395e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 7851, "t": 39.255, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.0224329161090395e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 7851, "t": 39.255, "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": 7851, "t": 39.255, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 7851, "t": 39.255, "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": 8431, "t": 42.155, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10636, "t": 53.18, "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": 10636, "t": 53.18, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10636, "t": 53.18, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10636, "t": 53.18, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c6_p000_e031/env.mp4 b/episodes/c6_p000_e031/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..36b7edaca8a5dba16024c9d95c87918f02aeba3a --- /dev/null +++ b/episodes/c6_p000_e031/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ba70b0ffcb2149cd1df40682bd916c5979b25cadb786715d4032c42233b7422 +size 1370328 diff --git a/episodes/c6_p000_e031/meta.json b/episodes/c6_p000_e031/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5d927b40c7ab540e48c239422eb3247f90c1aa34 --- /dev/null +++ b/episodes/c6_p000_e031/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/31", + "fps": 25, + "frames": 1264, + "kept_ticks": "even", + "video_frames": { + "wrist": 1264, + "env": 1264 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e031/scene_snapshot.json b/episodes/c6_p000_e031/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..34b279852b16da35459f17d338c0676af6c5f3cc --- /dev/null +++ b/episodes/c6_p000_e031/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 31, + "env_id": 1, + "run_id": "c6_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5073986053466797, + 0.06928730010986328, + 0.8999999761581421 + ], + "ori": [ + -0.6957700252532959, + 0.0, + 0.0, + 0.718264639377594 + ], + "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": [ + 2.3549157415758692e-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": 0.24409856322149193, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.21011739009309055, + "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": 0.24409856322149193, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.060194969177246094, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.5304064682197804e-09, + 1.178936059886837e-09, + -2.834590668499004e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0086905755102293e-09, + 1.6438561623033365e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.0202364109090922e-07, + -9.834970171596069e-08, + -1.0462916089082341e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3426122665405273, + 0.6098661422729492, + 0.8999999761581421 + ], + "ori": [ + 0.8779450058937073, + -2.7511453026818344e-07, + 2.530707661207998e-07, + -0.47876158356666565 + ], + "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": [ + -1.4447535079398222e-07, + -7.221755993214174e-08, + -1.2665987014770508e-07 + ], + "angular_velocity": [ + 6.7258765739097726e-06, + -9.440335816179868e-06, + -1.207841933137388e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6452178955078125, + 0.6140670776367188, + 0.8999999761581421 + ], + "ori": [ + 0.8761593103408813, + -6.094427362768329e-08, + 6.037523547774981e-08, + 0.48202165961265564 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.177298589842394e-10, + -2.979163582494948e-10, + 0.0 + ], + "angular_velocity": [ + 2.7794158086180687e-08, + 3.366585588082671e-08, + 1.1000338417943567e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.34938716888427734, + 1.149998664855957, + 0.9000000357627869 + ], + "ori": [ + -2.7790967578766868e-05, + -4.7200554575965725e-08, + 2.968040462292265e-07, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.97823001208053e-08, + -4.1633199998614145e-07, + 1.4901161193847656e-07 + ], + "angular_velocity": [ + 1.3166982171242125e-05, + 1.503318571849377e-07, + -6.198626579134725e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -0.0705118179321289, + 0.44257068634033203, + 0.9179999828338623 + ], + "ori": [ + 0.9997748732566833, + 2.2660511245220505e-09, + 1.5971860500840762e-09, + -0.021222149953246117 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.5709166351362e-08, + 2.36035475609242e-08, + 1.0058283805847168e-07 + ], + "angular_velocity": [ + -5.673238092640531e-07, + -1.5496094647460268e-06, + 1.3654275221597345e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.3508777618408203, + 0.6080379486083984, + 0.9180000424385071 + ], + "ori": [ + 0.8841539025306702, + -2.895412762882188e-07, + 2.8293536047385714e-07, + -0.46719586849212646 + ], + "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": [ + -3.1974764169717673e-07, + -1.1780756636881051e-07, + -4.1387975215911865e-06 + ], + "angular_velocity": [ + 6.53776169201592e-06, + -2.2321284632198513e-05, + -9.655205985836801e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.63861083984375, + 0.6193618774414062, + 0.9179999828338623 + ], + "ori": [ + 0.8514831066131592, + -1.0965757724079594e-07, + 4.0689116076464416e-08, + 0.5243821144104004 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.260999387246557e-07, + -7.642404398211511e-08, + 1.7136335372924805e-07 + ], + "angular_velocity": [ + 4.49910294264555e-06, + 3.087479854002595e-06, + -3.71349960914813e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.36095237731933594, + 1.1468400955200195, + 0.9179999828338623 + ], + "ori": [ + -0.08553460985422134, + 5.543297021404214e-08, + 1.0133444448001683e-06, + 0.9963352680206299 + ], + "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": [ + 7.103535608621314e-07, + -5.023735866416246e-06, + -1.3127923011779785e-05 + ], + "angular_velocity": [ + -0.00021909040515311062, + -2.969415800180286e-05, + 2.2145355615066364e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 2.7999999999999625, + "step": 560, + "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": 2.3549157415758692e-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": 0.24409856322149193, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 524, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.21019497513771057, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_2": [ + -1.4926122725009918, + 0.15986615419387817, + 0.0 + ], + "carrier_3": [ + 1.495217889547348, + 0.1640670895576477, + 0.0 + ], + "carrier_4": [ + 0.19938716292381287, + 0.699998676776886, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.3851682158487638, + 0.34995616100596894, + 2.7770520907389153 + ], + "ori": [ + 11.51169350481047, + -7.735928460608487, + 1.7248391154397211 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4568.35684941901, + "color": [ + 0.9466663759141202, + 0.9263571737661656, + 0.9269369362426095 + ], + "intensity": 12433.518414883936, + "width": 2.779545658639189, + "height": 1.0382459624006042 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.6742931295394659, + -0.1572140894761096, + 2.4052573139188826 + ], + "ori": [ + -33.48297009055106, + -25.22888220253246, + 6.936127159680424 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4798.981817381634, + "color": [ + 0.9039800550424302, + 0.8113908570152037, + 0.9537977548933243 + ], + "intensity": 6338.180769532121, + "radius": 0.11504201673282831 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1187.0108031348204, + "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": [ + [ + 0.9141027927398682, + -1.7193979024887085, + 2.0905003547668457, + -1.9419010877609253, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141024947166443, + -1.719398856163025, + 2.0905001163482666, + -1.9419009685516357, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 2.2507951259613037, + -2.459535837173462, + 2.456333875656128, + -1.567884087562561, + -1.5709104537963867, + 3.8301758766174316, + 0.008028972893953323, + 0.007000489626079798 + ], + [ + 2.8040900230407715, + -1.6907747983932495, + 1.7516072988510132, + -1.6316243410110474, + -1.570773720741272, + 4.374506950378418, + 0.007662456016987562, + 0.0069640083238482475 + ] + ], + "joint_vel": [ + [ + 1.7029814216584782e-06, + 3.405934421607526e-06, + -1.1180036063596077e-11, + 3.405976485737483e-06, + -3.405977395232185e-06, + 9.007321256047918e-14, + -6.897054542071013e-14, + 9.028732080550161e-13 + ], + [ + -5.034766468655415e-21, + 1.7766165809368322e-20, + 8.885657342782019e-21, + 1.5321535694854067e-21, + -2.8137699136953156e-22, + -1.288778232508124e-23, + -2.4804452578919534e-22, + 2.480445510327443e-22 + ], + [ + 0.03159312903881073, + -0.020383840426802635, + 0.009890614077448845, + 0.015436895191669464, + 0.00335936201736331, + 0.013886106200516224, + -0.004864596761763096, + 0.00014201045269146562 + ], + [ + -0.00020906463032588363, + 3.799352271016687e-05, + -0.00011395075125619769, + -0.0003483003529254347, + -0.0015936704585328698, + 0.003604203462600708, + -0.00923030823469162, + 0.0002464895078446716 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.0527210533618927, + 6.419822602765635e-05, + -0.029889967292547226, + -0.27198195457458496, + 0.6533518433570862, + 0.6454945206642151, + -0.2872177064418793 + ], + [ + 0.04650883376598358, + -9.881378355203196e-05, + -0.029632264748215675, + -0.283603310585022, + 0.6408678293228149, + 0.6558674573898315, + -0.2805272340774536 + ], + [ + 0.05008697137236595, + 0.0016164053231477737, + -0.02789798006415367, + -0.278322696685791, + 0.6576372385025024, + 0.6362031698226929, + -0.2920535206794739 + ], + [ + 0.04746606573462486, + -0.0003761552507057786, + -0.028126096352934837, + -0.28788310289382935, + 0.6452000737190247, + 0.6533080339431763, + -0.2720823884010315 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e031/wrist.mp4 b/episodes/c6_p000_e031/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b4d4b046559e16b575095e96a0d34c4037f4d56f --- /dev/null +++ b/episodes/c6_p000_e031/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5badf7cbe215a54703077850f0e0bb9256e029fd01635edbe8f6e3a5b89b11a9 +size 7235397 diff --git a/episodes/c6_p000_e032/data.npz b/episodes/c6_p000_e032/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..efd6c92384a9c0e5d3da302159a86d062330e91a --- /dev/null +++ b/episodes/c6_p000_e032/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38f09e534553ba01c9e43e2b87a848369bd55c4c3492ab9e1372788028f44d94 +size 186312 diff --git a/episodes/c6_p000_e032/device_events.jsonl b/episodes/c6_p000_e032/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f97a72dfcf6fe829a19ee05262afa1bec50d5b5c --- /dev/null +++ b/episodes/c6_p000_e032/device_events.jsonl @@ -0,0 +1,43 @@ +{"env_id": 3, "seq": 1, "step": 142, "t": 0.71, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 142, "t": 0.71, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 147, "t": 0.735, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1617, "t": 8.085, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 1654, "t": 8.27, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 1663, "t": 8.315, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 1695, "t": 8.475, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 8, "step": 1728, "t": 8.64, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 1766, "t": 8.83, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 10, "step": 1792, "t": 8.96, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 1801, "t": 9.005, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 12, "step": 6239, "t": 31.195, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 13, "step": 6852, "t": 34.26, "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": 14, "step": 6852, "t": 34.26, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.9244675909899245}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 6852, "t": 34.26, "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": 16, "step": 6852, "t": 34.26, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 17, "step": 6852, "t": 34.26, "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": 18, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 19, "step": 7271, "t": 36.355, "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": 7271, "t": 36.355, "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": 7271, "t": 36.355, "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": 22, "step": 7271, "t": 36.355, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 23, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 24, "step": 7271, "t": 36.355, "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": 25, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.9244675909899245}, "cause": "program-3-3"} +{"env_id": 3, "seq": 27, "step": 7856, "t": 39.28, "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": 7856, "t": 39.28, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.9250000000014964}, "cause": "program-3-3"} +{"env_id": 3, "seq": 29, "step": 7856, "t": 39.28, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.9250000000014964}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 30, "step": 7856, "t": 39.28, "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": 7856, "t": 39.28, "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": 7856, "t": 39.28, "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": 8276, "t": 41.38, "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": 8276, "t": 41.38, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.5448087253844278e-08}, "cause": "program-3-4"} +{"env_id": 3, "seq": 35, "step": 8276, "t": 41.38, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.5448087253844278e-08}, "cause": "program-3-4"} +{"env_id": 3, "seq": 36, "step": 8276, "t": 41.38, "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": 8276, "t": 41.38, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 38, "step": 8276, "t": 41.38, "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": 8855, "t": 44.275, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 40, "step": 10536, "t": 52.68, "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": 10536, "t": 52.68, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 42, "step": 10536, "t": 52.68, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 43, "step": 10536, "t": 52.68, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c6_p000_e032/env.mp4 b/episodes/c6_p000_e032/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..aaa48e099846dc77e273d748e45d46eb6976e498 --- /dev/null +++ b/episodes/c6_p000_e032/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d56146d8f9b8dbd3deb2215126f33f3db7cf12fddd1d63af017ed8eeff75b0e +size 1156591 diff --git a/episodes/c6_p000_e032/meta.json b/episodes/c6_p000_e032/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..32c3ae0fbeb328636fd388f67b0d14436df1e07f --- /dev/null +++ b/episodes/c6_p000_e032/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/32", + "fps": 25, + "frames": 1175, + "kept_ticks": "even", + "video_frames": { + "wrist": 1175, + "env": 1175 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e032/scene_snapshot.json b/episodes/c6_p000_e032/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..965333e38f4a3dce57d79307254f1a64b57845cb --- /dev/null +++ b/episodes/c6_p000_e032/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 32, + "env_id": 3, + "run_id": "c6_p000", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 0.5043811798095703, + 0.1029367446899414, + 0.8999999761581421 + ], + "ori": [ + -0.6904402375221252, + 0.0, + 0.0, + 0.7233894467353821 + ], + "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": 0.16606183927109053, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.07412841735018177, + "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": 0.16606183927109053, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.09369373321533203, + 1.1499919891357422, + 0.8999999761581421 + ], + "ori": [ + 8.44073474581819e-06, + -4.409023368623366e-09, + -1.2693479600756064e-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": [ + -7.341749430622713e-10, + -1.8952683866757525e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.4838905215697196e-08, + -8.139940632645448e-08, + -1.4225776112652966e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6973962783813477, + 0.8045368194580078, + 0.8999999761581421 + ], + "ori": [ + 0.7044123411178589, + 3.105911972056674e-08, + -2.544002342119711e-08, + 0.7097910642623901 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.1021247509931413e-10, + 4.807323428224208e-10, + 0.0 + ], + "angular_velocity": [ + 1.7083806369555532e-08, + -8.497463710455122e-08, + -1.1785448172929591e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2522239685058594, + 1.0819034576416016, + 0.8999999761581421 + ], + "ori": [ + -0.30398476123809814, + 1.1733045113260232e-07, + -3.9643772709041514e-08, + 0.9526768922805786 + ], + "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": [ + -1.3985368418900634e-10, + 5.532354574455667e-10, + 0.0 + ], + "angular_velocity": [ + -4.5713122176493926e-08, + -9.49960110574466e-11, + 1.8104957533182642e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.07609748840332031, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.3375087138409754e-09, + 2.920979014220393e-09, + -1.3209328244556673e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.4128308240278784e-09, + 2.832026169130586e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + -1.58273010697485e-07, + 2.2464215021500422e-07, + -2.9096367981651383e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.09924602508544922, + 1.1436042785644531, + 0.9179999828338623 + ], + "ori": [ + -0.06860864162445068, + -3.993056996165478e-09, + -1.274411021157107e-09, + 0.9976436495780945 + ], + "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": [ + 1.45750504998432e-08, + 2.8903306414918006e-08, + 1.2293457984924316e-07 + ], + "angular_velocity": [ + -1.4584677501261467e-06, + 1.592188027643715e-06, + -2.0888419882680864e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 1.688673973083496, + 0.7981405258178711, + 0.9180000424385071 + ], + "ori": [ + 0.7566342949867249, + 3.339797061130412e-08, + -2.212594907291532e-08, + 0.6538383960723877 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.230034514473573e-09, + -2.379517738404502e-08, + -5.662441253662109e-06 + ], + "angular_velocity": [ + 1.924463504110463e-06, + 9.283347708333167e-07, + 1.8343676799759123e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.2450437545776367, + 1.096440315246582, + 0.9180000424385071 + ], + "ori": [ + -0.23549610376358032, + 1.1932128529679176e-07, + -3.074085341836508e-08, + 0.9718753099441528 + ], + "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": [ + 6.01633898256182e-09, + 1.3345315963420035e-08, + -5.751848220825195e-06 + ], + "angular_velocity": [ + -1.2764476196025498e-06, + 1.5125830259421491e-06, + -4.39477716440706e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.08913516998291016, + 0.4420814514160156, + 0.9179999828338623 + ], + "ori": [ + 0.9998682141304016, + -6.22103035752275e-10, + 7.511246735703025e-09, + 0.016239048913121223 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.0731118982885164e-08, + 2.6641220784995312e-08, + -2.078711986541748e-06 + ], + "angular_velocity": [ + -5.079790525996941e-07, + -1.5390050975838676e-06, + 1.6775361100229702e-09 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 5.939999999999896, + "step": 1188, + "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": 0.16606183927109053, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1045, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.056306272745132446, + 0.6999920010566711, + 0.0 + ], + "carrier_2": [ + 1.5473962724208832, + 0.35453683137893677, + 0.0 + ], + "carrier_3": [ + -1.4022239744663239, + 0.6319034695625305, + 0.0 + ], + "carrier_4": [ + -0.07390251755714417, + 1.7285346984863281e-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": [ + -0.23530230804117935, + 0.16585268186376656, + 2.9489207913191198 + ], + "ori": [ + -0.6938695216679509, + -6.408845571194986, + 16.172116321502195 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6542.2569042869, + "color": [ + 0.9098827972947199, + 0.8656456329652404, + 0.8674813169033341 + ], + "intensity": 11333.17980298063, + "width": 2.56468091006077, + "height": 0.8181597878285017 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.3880778721551839, + 1.3603668809594296, + 2.622991963400356 + ], + "ori": [ + -39.224337210738234, + -17.498451130171375, + 26.494800006856295 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5536.6643320405765, + "color": [ + 0.7719349596237441, + 0.8732292422634161, + 0.8851918343895135 + ], + "intensity": 4339.074036247285, + "radius": 0.48240537021287166 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1187.0108031348204, + "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": [ + [ + -0.3132707178592682, + -2.080901861190796, + 2.568479061126709, + -2.0583431720733643, + -1.5708011388778687, + 4.3234100341796875, + 0.018000012263655663, + 0.017999986186623573 + ], + [ + -0.2221331000328064, + -1.9570618867874146, + 2.6592321395874023, + -2.2729532718658447, + -1.5707948207855225, + 4.407019138336182, + 0.017999988049268723, + 0.018000010401010513 + ], + [ + 1.3481661081314087, + -1.4622368812561035, + 2.2209174633026123, + -2.3292527198791504, + -1.5705466270446777, + 6.06053352355957, + 0.01800004579126835, + 0.017999956384301186 + ], + [ + 0.914104163646698, + -1.7193963527679443, + 2.090498208999634, + -1.941900610923767, + -1.5707999467849731, + 2.4849021434783936, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -0.0008675809949636459, + 0.013556180521845818, + 0.016651077196002007, + -0.029352650046348572, + -8.372197953576688e-06, + -0.0007902294164523482, + -1.21944810871355e-06, + 1.2196409215903259e-06 + ], + [ + -0.0002988506748806685, + 0.007263872306793928, + 0.005872140172868967, + -0.01281584333628416, + -8.457993317279033e-06, + -0.0002725321683101356, + -8.31023101000028e-07, + 8.310423140756029e-07 + ], + [ + 0.0001475476019550115, + -0.017466705292463303, + -0.009726744145154953, + 0.025917155668139458, + -5.8993955462938175e-06, + -7.07955734924326e-07, + -8.224138582590967e-06, + 8.17443105916027e-06 + ], + [ + 2.229195966656555e-38, + -2.11121588453027e-38, + -1.461814379285763e-38, + -4.594417320491646e-37, + 5.993070581731326e-37, + 3.5552614629767627e-37, + -9.842422217104307e-38, + 8.968537742549436e-38 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05425628647208214, + -0.00011292076669633389, + -0.02706826850771904, + -0.2703179717063904, + 0.6519778370857239, + 0.6487724781036377, + -0.28451260924339294 + ], + [ + 0.047829966992139816, + -0.002214110689237714, + -0.027325764298439026, + -0.28606027364730835, + 0.6455259323120117, + 0.64641934633255, + -0.289150208234787 + ], + [ + 0.04865507036447525, + 0.00255550816655159, + -0.028315935283899307, + -0.27652886509895325, + 0.6514465808868408, + 0.6413935422897339, + -0.2962489724159241 + ], + [ + 0.04965873062610626, + -0.0028014176059514284, + -0.03023473359644413, + -0.28463149070739746, + 0.6474370956420898, + 0.6525111198425293, + -0.2721017003059387 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e032/wrist.mp4 b/episodes/c6_p000_e032/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..89a9ba7f609379b3ea99a7c2af864df4e4bb86bf --- /dev/null +++ b/episodes/c6_p000_e032/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:694963d04f40c1ddbe72da4e7d33f2240d39280475f79d697a7240da8595b9fe +size 6422197 diff --git a/episodes/c6_p000_e033/data.npz b/episodes/c6_p000_e033/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..c2b5fd277833176a6addcbd24ee248a9b762487d --- /dev/null +++ b/episodes/c6_p000_e033/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2378bf45b74108e54513c18143763ef8b2b73bc9ebcb9e59eb099c306f460db +size 184277 diff --git a/episodes/c6_p000_e033/device_events.jsonl b/episodes/c6_p000_e033/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..00200223c661974ac0323bb2c483c282b69540e6 --- /dev/null +++ b/episodes/c6_p000_e033/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 0, "t": 0.0, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 0, "t": 0.0, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 6, "t": 0.03, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1739, "t": 8.695, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6379, "t": 31.895, "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": 6992, "t": 34.96, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6992, "t": 34.96, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.86882099858863}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6992, "t": 34.96, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 9, "step": 6992, "t": 34.96, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 10, "step": 6992, "t": 34.96, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 11, "step": 7411, "t": 37.055, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 7411, "t": 37.055, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7411, "t": 37.055, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7411, "t": 37.055, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 7411, "t": 37.055, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7411, "t": 37.055, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7411, "t": 37.055, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 18, "step": 7411, "t": 37.055, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 19, "step": 7411, "t": 37.055, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.86882099858863}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 7985, "t": 39.925, "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": 7985, "t": 39.925, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.8700000000014683}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7985, "t": 39.925, "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": 2.8700000000014683}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7985, "t": 39.925, "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": 7985, "t": 39.925, "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": 7985, "t": 39.925, "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": 8405, "t": 42.025, "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": 8405, "t": 42.025, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.243715365752742e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8405, "t": 42.025, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.243715365752742e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8405, "t": 42.025, "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": 8405, "t": 42.025, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8405, "t": 42.025, "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": 8985, "t": 44.925, "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": 10708, "t": 53.54, "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": 10708, "t": 53.54, "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": 10708, "t": 53.54, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10708, "t": 53.54, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c6_p000_e033/env.mp4 b/episodes/c6_p000_e033/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f46bfad3bbf1b8fdfdc97be07f863f2ee0bac102 --- /dev/null +++ b/episodes/c6_p000_e033/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c77b18110481de4cbfacb1cd0369c65821fc79b4517b5dd53783a4ed71250204 +size 1192628 diff --git a/episodes/c6_p000_e033/meta.json b/episodes/c6_p000_e033/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..61146bfa20865779472479bf0ffc5985d60218cd --- /dev/null +++ b/episodes/c6_p000_e033/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/33", + "fps": 25, + "frames": 1180, + "kept_ticks": "even", + "video_frames": { + "wrist": 1180, + "env": 1180 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e033/scene_snapshot.json b/episodes/c6_p000_e033/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..357e974bae0308736c65fa5020bdfa1deea21e23 --- /dev/null +++ b/episodes/c6_p000_e033/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 33, + "env_id": 2, + "run_id": "c6_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46108436584472656, + 0.05295372009277344, + 0.8999999761581421 + ], + "ori": [ + 0.7118666768074036, + 0.0, + 0.0, + -0.7023146152496338 + ], + "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": 0.1567012945140137, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.13688099226903702, + "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": 0.1567012945140137, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.045523643493652344, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.3717815772196218e-10, + 8.30144841756919e-09, + 3.262543657456263e-08 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7876304880815042e-09, + 9.46536271584364e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -1.445053356974313e-07, + -1.0716121323639527e-07, + 6.71482780489896e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.29291248321533203, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + 3.3309353852928325e-07, + -6.828135834524574e-10, + -2.973919444038131e-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": [ + 2.6414661569162945e-09, + 7.651276057174528e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -1.2338114174781367e-07, + 2.6998318958249e-07, + -3.077045462873684e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2603120803833008, + 0.5211572647094727, + 0.8999999761581421 + ], + "ori": [ + 0.9483913779258728, + -1.8609190419738297e-06, + 1.1416495908633806e-06, + -0.31710219383239746 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.347635695012286e-06, + -8.859208264766494e-07, + -4.049390554428101e-06 + ], + "angular_velocity": [ + 0.00022802999592386186, + -0.00036922539584338665, + 2.145676080544945e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.2376432418823242, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + -4.136262759857345e-06, + -9.040648762947967e-08, + 4.664810759891225e-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": [ + 4.9851010430757015e-08, + -3.440275122557068e-07, + 4.4330954551696777e-07 + ], + "angular_velocity": [ + 1.787629480531905e-05, + 7.635351551016356e-08, + 4.5554997996077873e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.04079151153564453, + 0.44643402099609375, + 0.9179999828338623 + ], + "ori": [ + 0.998734712600708, + 1.081406297842591e-09, + 8.950582497391224e-09, + -0.050289470702409744 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.9143161479369155e-08, + 2.0732059624606336e-08, + 1.6391277313232422e-07 + ], + "angular_velocity": [ + -4.695805841947731e-07, + -2.8582844606717117e-06, + 2.828612650773721e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.29018402099609375, + 1.1482229232788086, + 0.9180000424385071 + ], + "ori": [ + 0.012200519442558289, + -1.4452841146095352e-09, + -3.3999486559466163e-10, + 0.9999255537986755 + ], + "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": [ + 5.518410262084217e-08, + 4.480155268993258e-08, + -4.928559064865112e-06 + ], + "angular_velocity": [ + -1.0750047749752412e-06, + 3.3273713597736787e-06, + 6.620945214308449e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -1.2713956832885742, + 0.5228414535522461, + 0.9179999828338623 + ], + "ori": [ + 0.9477793574333191, + -2.7091514311905485e-06, + 1.33175706196198e-06, + -0.3189269006252289 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.593746315455064e-06, + -3.5595198824012186e-06, + -1.4670193195343018e-05 + ], + "angular_velocity": [ + 0.0003309901221655309, + -0.00045145853073336184, + 1.8122629626304843e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.2359142303466797, + 1.139267921447754, + 0.9179999828338623 + ], + "ori": [ + -0.09647909551858902, + -5.642169185193779e-07, + 5.011656298847811e-07, + 0.995335042476654 + ], + "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": [ + 1.1243469998589717e-05, + -6.90267484060314e-07, + -7.528811693191528e-06 + ], + "angular_velocity": [ + 0.0002442476979922503, + 0.00020729868265334517, + 5.8446610637474805e-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": 6.5999999999998815, + "step": 1320, + "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": 0.1567012945140137, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1318, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.10447636246681213, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_2": [ + -0.4429124891757965, + 0.6999996304512024, + 0.0 + ], + "carrier_3": [ + -1.4103120863437653, + 0.07115727663040161, + 0.0 + ], + "carrier_4": [ + 1.0876432359218597, + 0.6999996304512024, + 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": [ + 0.6437728654033216, + 0.21763036642360978, + 2.931453054065288 + ], + "ori": [ + -2.9712358588409735, + -7.078575854741698, + 14.066179501343008 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5689.609937720865, + "color": [ + 0.904214875276786, + 0.9286011025434181, + 0.9937154915161053 + ], + "intensity": 5066.687550016733, + "width": 2.367969523891693, + "height": 0.9809850042890846 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.46835954934977, + -0.02297100481120662, + 1.8725199775891286 + ], + "ori": [ + -29.26585164644898, + -30.222219374235664, + 1.0026914521276282 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4554.120564484227, + "color": [ + 0.967836477034115, + 0.761117675452042, + 0.8489939303107712 + ], + "intensity": 5676.903784249274, + "radius": 0.2169100607203443 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1187.0108031348204, + "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": [ + [ + 1.497930884361267, + -1.439618468284607, + 2.1911721229553223, + -2.3221449851989746, + -1.57027268409729, + 6.212338447570801, + 0.007772689685225487, + 0.007271354086697102 + ], + [ + 1.2131427526474, + -1.6241942644119263, + 2.1576170921325684, + -2.105104923248291, + -1.570977807044983, + 1.2511686086654663, + 0.007735175080597401, + 0.0070352982729673386 + ], + [ + 0.9141024947166443, + -1.7193984985351562, + 2.0905003547668457, + -1.9419015645980835, + -1.5707999467849731, + 2.484900951385498, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 1.9441592693328857, + -2.1338367462158203, + 2.6121208667755127, + -2.0496010780334473, + -1.571534276008606, + 3.506396532058716, + 0.00818630587309599, + 0.00683380663394928 + ] + ], + "joint_vel": [ + [ + -0.0003864240716211498, + 0.016387823969125748, + 0.00873170979321003, + -0.023794079199433327, + 2.436851355014369e-05, + 0.0015125033678486943, + -0.006096401251852512, + 0.0002747934777289629 + ], + [ + 0.03348386660218239, + 0.012775846756994724, + -0.005581342149525881, + -0.006861140485852957, + 2.7071178919868544e-05, + -0.07216207683086395, + -0.008662496693432331, + 0.0002660900936461985 + ], + [ + -2.182331641464908e-38, + 1.4603640353751867e-38, + -1.5441742952279897e-38, + 4.403667192541649e-37, + 3.0205044450460005e-37, + 4.596537429016231e-37, + 5.198073438350548e-08, + -5.1980777016069624e-08 + ], + [ + 0.0713392049074173, + -0.044979535043239594, + 0.03795774653553963, + 0.008800173178315163, + 0.0008877349901013076, + 0.06442579627037048, + -0.005147320218384266, + 0.0004055158351548016 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05204518511891365, + 0.002168221864849329, + -0.026889611035585403, + -0.26918837428092957, + 0.6570135951042175, + 0.6444196105003357, + -0.28389105200767517 + ], + [ + 0.04879317432641983, + 0.0011165449395775795, + -0.028266577050089836, + -0.2817900776863098, + 0.6503774523735046, + 0.6463750004768372, + -0.28249409794807434 + ], + [ + 0.0497584231197834, + 0.003803202649578452, + -0.030153818428516388, + -0.2763439118862152, + 0.6559773087501526, + 0.6385285258293152, + -0.2925903797149658 + ], + [ + 0.0491759292781353, + -0.002511231694370508, + -0.029317399486899376, + -0.2910173833370209, + 0.6458303928375244, + 0.6503341794013977, + -0.27436739206314087 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e033/wrist.mp4 b/episodes/c6_p000_e033/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e9e63934a4485e36b0c3b0a3f629e4cbcef53785 --- /dev/null +++ b/episodes/c6_p000_e033/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:abb38ebeae25a2b6f87c12917a346d7046b66038f0195c6eb5239330ed30cc70 +size 6982326 diff --git a/episodes/c6_p000_e034/data.npz b/episodes/c6_p000_e034/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..4053161672535f898b6c7caa4fd1c782c1cfa482 --- /dev/null +++ b/episodes/c6_p000_e034/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65cf28bd6aa4b67df0ad9373c3b7a7e168363a2a3ee86304683c189eefe5fce7 +size 199403 diff --git a/episodes/c6_p000_e034/device_events.jsonl b/episodes/c6_p000_e034/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..44b7004515870832ae3e3f8a1aeb214ef28f6cf2 --- /dev/null +++ b/episodes/c6_p000_e034/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 20, "t": 0.1, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 20, "t": 0.1, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 25, "t": 0.125, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 5459, "t": 27.295, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6072, "t": 30.36, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 6072, "t": 30.36, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.973795902300232}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6072, "t": 30.36, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 6072, "t": 30.36, "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": 6072, "t": 30.36, "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": 6491, "t": 32.455, "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": 6491, "t": 32.455, "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": 6491, "t": 32.455, "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": 6491, "t": 32.455, "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": 6491, "t": 32.455, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 6491, "t": 32.455, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6491, "t": 32.455, "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": 6491, "t": 32.455, "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": 6491, "t": 32.455, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.973795902300232}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 6886, "t": 34.43, "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": 6886, "t": 34.43, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.9750000000010104}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 6886, "t": 34.43, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.9750000000010104}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 6886, "t": 34.43, "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": 6886, "t": 34.43, "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": 6886, "t": 34.43, "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": 7306, "t": 36.53, "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": 7306, "t": 36.53, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.3120276804178275e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 7306, "t": 36.53, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.3120276804178275e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 7306, "t": 36.53, "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": 7306, "t": 36.53, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 7306, "t": 36.53, "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": 7888, "t": 39.44, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10140, "t": 50.7, "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": 10140, "t": 50.7, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10140, "t": 50.7, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10140, "t": 50.7, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c6_p000_e034/env.mp4 b/episodes/c6_p000_e034/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2717682c9d76ed75a0b612b3df3acbafae70b413 --- /dev/null +++ b/episodes/c6_p000_e034/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47117a8a80c5eea2235cfbc901171bda9ba044100dcefa5baaa977d02cfafeee +size 1326799 diff --git a/episodes/c6_p000_e034/meta.json b/episodes/c6_p000_e034/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d9d4926737a4b2df9a990ab2cf9eb3a4d54b5580 --- /dev/null +++ b/episodes/c6_p000_e034/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/34", + "fps": 25, + "frames": 1222, + "kept_ticks": "even", + "video_frames": { + "wrist": 1222, + "env": 1222 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e034/scene_snapshot.json b/episodes/c6_p000_e034/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..58fd6667a201c621960d7ea61b67ffcb168c638a --- /dev/null +++ b/episodes/c6_p000_e034/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 34, + "env_id": 1, + "run_id": "c6_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5073986053466797, + 0.06928730010986328, + 0.8999999761581421 + ], + "ori": [ + -0.6957700252532959, + 0.0, + 0.0, + 0.718264639377594 + ], + "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": [ + 3.3641672347178853e-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": 0.28647624910151864, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.18874218974649148, + "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": 0.28647624910151864, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.1503763198852539, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 2.4573244445491582e-05, + 3.676971616073388e-09, + -1.1559599499832984e-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": [ + 8.340837354126052e-09, + 1.0808776096382644e-07, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -3.274730033808737e-06, + -3.3139900779133313e-07, + 1.55360862663656e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6979866027832031, + 0.8242435455322266, + 0.8999999761581421 + ], + "ori": [ + 0.6833904385566711, + -3.12869985918951e-07, + -5.132899332238594e-07, + 0.7300531268119812 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0129344900633441e-06, + 7.013060780991509e-07, + -4.276633262634277e-06 + ], + "angular_velocity": [ + -5.1313134463271126e-05, + 5.61754968657624e-05, + -3.912320153176552e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.03881645202636719, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.56390633776482e-09, + 1.422519879668016e-09, + -2.1344567358028144e-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": [ + -5.586645590582862e-10, + 5.978823547359013e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -8.479933910621185e-08, + -5.4563756179959455e-08, + -7.912821509137302e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3966989517211914, + 0.7610445022583008, + 0.8999999761581421 + ], + "ori": [ + -0.7442519068717957, + -4.935638564518285e-10, + -5.032216865430428e-09, + 0.6678990721702576 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.06982225698016e-11, + -2.575905044821525e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 3.734415798817281e-08, + -3.7124912921626674e-08, + -8.155051745006858e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -0.15285396575927734, + 1.1576642990112305, + 0.9180000424385071 + ], + "ori": [ + 0.041198499500751495, + -4.0385621957739204e-08, + -1.4484783150692238e-07, + 0.9991509914398193 + ], + "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": [ + -2.538068315516284e-07, + 4.550885932985693e-06, + -1.2814998626708984e-06 + ], + "angular_velocity": [ + -4.308417919673957e-05, + -7.818047379259951e-06, + -2.048565511358902e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.698267936706543, + 0.8369979858398438, + 0.9179999828338623 + ], + "ori": [ + 0.7135749459266663, + -3.830818116057344e-07, + -3.696524686347402e-07, + 0.7005789875984192 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.714662403173861e-06, + 1.6991498341667466e-06, + -9.872019290924072e-06 + ], + "angular_velocity": [ + -5.072998465038836e-05, + 0.00012302516552153975, + -1.5625472542524221e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -0.04756927490234375, + 0.44496726989746094, + 0.9179999828338623 + ], + "ori": [ + 0.9965612292289734, + 1.2002032701019516e-09, + 1.02631880771753e-09, + -0.08286044001579285 + ], + "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": [ + -1.084083489644172e-08, + 1.676600902555947e-08, + -5.5730342864990234e-06 + ], + "angular_velocity": [ + -2.3814077110273502e-07, + -1.2337475254753372e-06, + 1.0636709646405507e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.3899650573730469, + 0.7543001174926758, + 0.9179999828338623 + ], + "ori": [ + 0.7941491007804871, + -7.67925945055481e-10, + 3.234754686332053e-09, + -0.6077229380607605 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.972052719016574e-08, + 6.45096207563256e-08, + 1.3783574104309082e-07 + ], + "angular_velocity": [ + -2.034640374404262e-06, + -2.980413228215184e-06, + -3.5563250122550016e-09 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 1.9599999999999802, + "step": 392, + "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": 3.3641672347178853e-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": 0.28647624910151864, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 371, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.3003763258457184, + 0.6999967694282532, + 0.0 + ], + "carrier_2": [ + 1.5479865968227386, + 0.3742435574531555, + 0.0 + ], + "carrier_3": [ + -0.18881645798683167, + 2.682209014892578e-06, + 0.0 + ], + "carrier_4": [ + -1.5466989576816559, + 0.31104451417922974, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.7725961701538443, + 0.32169637413146746, + 2.624851479727799 + ], + "ori": [ + -11.583448754296782, + -7.156918723077156, + 21.95118140616441 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3918.365198156218, + "color": [ + 0.8704384950588585, + 0.9795851148248053, + 0.9326555560030318 + ], + "intensity": 11074.057882584137, + "width": 2.1799730874627143, + "height": 1.5539492539395376 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.1326511081653623, + -1.0620750048291348, + 2.6061151648076137 + ], + "ori": [ + 19.82109549926762, + 23.40703293387201, + -29.295679647393378 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3266.69518876382, + "color": [ + 0.9425055278587984, + 0.9944045926502441, + 0.9081711799778929 + ], + "intensity": 1800.0814206991613, + "radius": 0.05811014145889633 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 685.4864358570453, + "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": [ + [ + 1.096022605895996, + -1.4839110374450684, + 2.069087505340576, + -2.1559524536132812, + -1.5707961320877075, + 2.4870944023132324, + 0.01800074614584446, + 0.01799926534295082 + ], + [ + 0.9141023755073547, + -1.7193981409072876, + 2.09049916267395, + -1.9418997764587402, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.5233728885650635, + -1.8930633068084717, + 2.4205644130706787, + -2.098937749862671, + -1.5710431337356567, + 3.149376630783081, + 0.007871011272072792, + 0.006864394526928663 + ], + [ + 2.6266674995422363, + -1.7807163000106812, + 2.5925276279449463, + -2.382593870162964, + -1.571123480796814, + 4.1973066329956055, + 0.0179999228566885, + 0.018000075593590736 + ] + ], + "joint_vel": [ + [ + 0.008895347826182842, + 0.011806047521531582, + -0.0008654300472699106, + -0.010316752828657627, + 1.5237487787089776e-05, + 0.00010279643902322277, + 1.7837983250501566e-05, + -1.7944454157259315e-05 + ], + [ + 3.405965117053711e-06, + 3.405936922717956e-06, + -9.285181130913589e-12, + -1.6662982842488572e-12, + -3.4059778499795357e-06, + 6.661022644918746e-13, + 2.5990027907596414e-08, + -2.5990344099113827e-08 + ], + [ + 0.07212755084037781, + -0.044912710785865784, + 0.037910349667072296, + 0.0075352368876338005, + 0.0003235321200918406, + 0.06995785236358643, + -0.007231652271002531, + 0.0004330328665673733 + ], + [ + 0.01886017620563507, + 0.03901432454586029, + -0.02233380638062954, + -0.01633673720061779, + 0.00013261521235108376, + 0.019209912046790123, + 1.7929277191797155e-06, + -1.7926275859281304e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05286872759461403, + 0.0005815884796902537, + -0.027190785855054855, + -0.26986730098724365, + 0.6569314002990723, + 0.6455524563789368, + -0.28084662556648254 + ], + [ + 0.047047048807144165, + -0.0001162765984190628, + -0.0302018690854311, + -0.28178882598876953, + 0.6481146812438965, + 0.6516963839530945, + -0.2753802537918091 + ], + [ + 0.04756031185388565, + 0.0019851268734782934, + -0.029772067442536354, + -0.274554580450058, + 0.6561459302902222, + 0.6362916827201843, + -0.29870590567588806 + ], + [ + 0.048372600227594376, + -0.0021502813324332237, + -0.02958693914115429, + -0.2809184491634369, + 0.6435189843177795, + 0.6573305726051331, + -0.2736506462097168 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e034/wrist.mp4 b/episodes/c6_p000_e034/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..eb177393cb642148131da6b95f5a001740c44ddf --- /dev/null +++ b/episodes/c6_p000_e034/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98a8e2caa4b9d94c903736600c73f692e1e3c7cb58dd57ce41b27a166fa16d38 +size 8527260 diff --git a/episodes/c6_p000_e035/data.npz b/episodes/c6_p000_e035/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..bb44a96ec88f40ea902543284cde578c433f1d9c --- /dev/null +++ b/episodes/c6_p000_e035/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ecc3572d99e51656ba2975e65d27f0d470ba2e94d1746df469e61b3fc525223 +size 199564 diff --git a/episodes/c6_p000_e035/device_events.jsonl b/episodes/c6_p000_e035/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d7111a5846fc61837059005c6b24af9c614ca52 --- /dev/null +++ b/episodes/c6_p000_e035/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 78, "t": 0.39, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 78, "t": 0.39, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 83, "t": 0.415, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1002, "t": 5.01, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 5687, "t": 28.435, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 6296, "t": 31.48, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6296, "t": 31.48, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.1044466403849538}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 6296, "t": 31.48, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 9, "step": 6296, "t": 31.48, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 10, "step": 6296, "t": 31.48, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 11, "step": 6715, "t": 33.575, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 12, "step": 6715, "t": 33.575, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 6715, "t": 33.575, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 6715, "t": 33.575, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 6715, "t": 33.575, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 6715, "t": 33.575, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 6715, "t": 33.575, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 18, "step": 6715, "t": 33.575, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 19, "step": 6715, "t": 33.575, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.1044466403849538}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 7336, "t": 36.68, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 21, "step": 7336, "t": 36.68, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.1050000000015885}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7336, "t": 36.68, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.1050000000015885}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 7336, "t": 36.68, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 24, "step": 7336, "t": 36.68, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 25, "step": 7336, "t": 36.68, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 26, "step": 7756, "t": 38.78, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 27, "step": 7756, "t": 38.78, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 7756, "t": 38.78, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 7756, "t": 38.78, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 7756, "t": 38.78, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 7756, "t": 38.78, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 8335, "t": 41.675, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 33, "step": 10612, "t": 53.06, "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": 34, "step": 10612, "t": 53.06, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 10612, "t": 53.06, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 10612, "t": 53.06, "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/c6_p000_e035/env.mp4 b/episodes/c6_p000_e035/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..46d82d987df0e19d2c905a76e0cee0a54b7e78f0 --- /dev/null +++ b/episodes/c6_p000_e035/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26be0a7e2a8f4787a0e10143bc5fd29ab365d7616ccad8f226c4decb2eb86557 +size 1400618 diff --git a/episodes/c6_p000_e035/meta.json b/episodes/c6_p000_e035/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5254e086e4f50c77876d7423448c72cbe30b8e1a --- /dev/null +++ b/episodes/c6_p000_e035/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/35", + "fps": 25, + "frames": 1258, + "kept_ticks": "even", + "video_frames": { + "wrist": 1258, + "env": 1258 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e035/scene_snapshot.json b/episodes/c6_p000_e035/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..a141ba4047ed890f49a2cd1b1affe76c3290f87d --- /dev/null +++ b/episodes/c6_p000_e035/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 35, + "env_id": 0, + "run_id": "c6_p000", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4785776138305664, + 0.06960201263427734, + 0.8999999761581421 + ], + "ori": [ + -0.706503689289093, + 0.0, + 0.0, + 0.7077093720436096 + ], + "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": 0.2641161604212719, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.18471651840758474, + "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": 0.2641161604212719, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.03432273864746094, + 0.4499988555908203, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 6.1705414111656864e-09, + 5.778203471251686e-10, + 3.809668487519957e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2330512166869312e-09, + 6.794242946028817e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -4.139713283279889e-08, + 1.1553412093689985e-07, + -7.681315139507205e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4993457794189453, + 1.1499948501586914, + 0.8999999761581421 + ], + "ori": [ + 6.59455472487025e-05, + 1.6246847200918069e-09, + 2.3155106720906815e-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": [ + -1.7791224049545917e-10, + -1.1979447434029566e-09, + 0.0 + ], + "angular_velocity": [ + 1.1678369560286228e-07, + -5.932061952762524e-09, + -6.916648587207419e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6938810348510742, + 0.7505884170532227, + 0.8999999761581421 + ], + "ori": [ + 0.7621009945869446, + -3.607325993471022e-08, + 3.1930891708498166e-08, + 0.6474582552909851 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.426866013178653e-10, + -1.1838846569744987e-10, + 0.0 + ], + "angular_velocity": [ + 5.882212050778435e-09, + -5.98784577476863e-09, + 5.336987740633958e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3877029418945312, + 0.8822755813598633, + 0.8999999761581421 + ], + "ori": [ + -0.612410843372345, + -4.408475007267043e-08, + -4.737671233101537e-08, + 0.7905397415161133 + ], + "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": [ + -1.003340965866073e-09, + 7.110733113435685e-10, + 0.0 + ], + "angular_velocity": [ + -5.2330594968452715e-08, + -3.8854707895552565e-08, + -1.3190772030213793e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -0.04635810852050781, + 0.4494962692260742, + 0.9179999828338623 + ], + "ori": [ + 0.9956874847412109, + 9.645686915860097e-09, + 4.989110791164819e-10, + 0.092771016061306 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.85237741496303e-09, + -8.205319979026626e-09, + 1.6391277313232422e-07 + ], + "angular_velocity": [ + 1.4795710967518971e-06, + -1.730996473270352e-06, + -7.333555629429611e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.4892301559448242, + 1.1614360809326172, + 0.9180000424385071 + ], + "ori": [ + -0.06383547931909561, + 1.3939778220617427e-09, + 1.3129343168216678e-09, + 0.9979604482650757 + ], + "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": [ + 2.1304142450162544e-08, + -2.2750203498844712e-08, + -5.692243576049805e-06 + ], + "angular_velocity": [ + 3.5594644032244105e-07, + 1.305586806665815e-06, + 1.6005816405595397e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.7046165466308594, + 0.7630195617675781, + 0.9180000424385071 + ], + "ori": [ + 0.7892881631851196, + -3.714314900093996e-08, + 3.00895983684768e-08, + 0.614022970199585 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.370353133888784e-10, + -2.151909939129837e-08, + -6.034970283508301e-06 + ], + "angular_velocity": [ + 1.5499582559641567e-06, + -6.684800268885738e-09, + 4.9073321406467585e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.3813610076904297, + 0.8757791519165039, + 0.9179999828338623 + ], + "ori": [ + -0.589572012424469, + -4.381451290669247e-08, + -4.700214972785943e-08, + 0.8077159523963928 + ], + "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": [ + -6.177319988864838e-08, + 1.1814603340098984e-07, + -1.7434358596801758e-06 + ], + "angular_velocity": [ + -4.6383929657167755e-06, + -2.4061957901722053e-06, + -2.2170439706314937e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 2.91999999999996, + "step": 584, + "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": 0.2641161604212719, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 505, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.18432274460792542, + -1.1324882507324219e-06, + 0.0 + ], + "carrier_2": [ + 0.34934577345848083, + 0.6999948620796204, + 0.0 + ], + "carrier_3": [ + 1.5438810288906097, + 0.3005884289741516, + 0.0 + ], + "carrier_4": [ + -1.5377029478549957, + 0.43227559328079224, + 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": [ + -0.055444051876944234, + -0.18958286143641867, + 2.994390327880743 + ], + "ori": [ + 11.898755971283254, + 9.874993317401877, + -25.889619628383187 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6721.502682776309, + "color": [ + 0.84409165753454, + 0.9169402501543767, + 0.8567798764409463 + ], + "intensity": 6416.801951611395, + "width": 1.4805377993984612, + "height": 1.2700791014016648 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.0476612861279915, + 1.0814906042862706, + 2.4689570574623216 + ], + "ori": [ + 2.995895516483067, + -39.786698377050776, + 37.739620264710965 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4131.990087641648, + "color": [ + 0.9440132956033787, + 0.8674871212786338, + 0.7618391927019308 + ], + "intensity": 7741.836978533038, + "radius": 0.4281346705528838 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 685.4864358570453, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141027331352234, + -1.7193984985351562, + 2.0904998779296875, + -1.9419012069702148, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141023755073547, + -1.7193981409072876, + 2.09049916267395, + -1.9418997764587402, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.935069739818573, + -1.540984034538269, + 2.1319632530212402, + -2.1617798805236816, + -1.5708250999450684, + 2.603062152862549, + 0.007642675656825304, + 0.007031183689832687 + ], + [ + 2.5287132263183594, + -1.9779586791992188, + 2.705792188644409, + -2.298621654510498, + -1.5717211961746216, + 4.098385810852051, + 0.018000001087784767, + 0.01799999736249447 + ] + ], + "joint_vel": [ + [ + -2.841737997355155e-38, + 1.5674305248016172e-38, + 3.3521817022027416e-38, + 6.112005620735079e-37, + -5.700054364478167e-37, + 4.2461953247301916e-37, + 2.5990372520823257e-08, + -2.5990386731677972e-08 + ], + [ + 3.405965117053711e-06, + 3.4059371500916313e-06, + -9.321319757726876e-12, + -1.8378545213471043e-12, + -3.4059778499795357e-06, + 1.2981211158086259e-12, + 2.5989908891688174e-08, + -2.599021620142139e-08 + ], + [ + 0.025731995701789856, + -0.01565740257501602, + 0.012019875459372997, + 0.002282332396134734, + 0.0005329158157110214, + 0.02476482465863228, + -0.007872415706515312, + 0.00027030351338908076 + ], + [ + 4.903124076454518e-14, + -3.4059187328239204e-06, + -6.811930234107422e-06, + 5.025534675906496e-12, + 3.4059794415952638e-06, + -3.8293305158754176e-13, + -2.598986270641035e-08, + 2.5990150476218332e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05242462456226349, + -0.00047497826744802296, + -0.027715768665075302, + -0.26687610149383545, + 0.6547876000404358, + 0.6480435132980347, + -0.28296640515327454 + ], + [ + 0.04888937994837761, + 0.0008675610879436135, + -0.02742362581193447, + -0.28181952238082886, + 0.6413289904594421, + 0.6555092930793762, + -0.28210359811782837 + ], + [ + 0.048949938267469406, + 0.0010545976692810655, + -0.030172035098075867, + -0.27625587582588196, + 0.6540750861167908, + 0.6417987942695618, + -0.28976330161094666 + ], + [ + 0.04929191991686821, + -0.0007652256172150373, + -0.028197869658470154, + -0.28843042254447937, + 0.6480332612991333, + 0.648322582244873, + -0.27665606141090393 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e035/wrist.mp4 b/episodes/c6_p000_e035/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..253d41beeeba8d62e08fede7da2750010d01964e --- /dev/null +++ b/episodes/c6_p000_e035/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f181e0715c878a5e5482869e8f66b0a87dee38078ad0d15a3156ff24fe2797c4 +size 7547411 diff --git a/episodes/c6_p000_e036/data.npz b/episodes/c6_p000_e036/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..8e9ce69866294dcf2ce131a6175893a7bde236f7 --- /dev/null +++ b/episodes/c6_p000_e036/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de1c236f105023024ee916342314824eb191eb2da50eabb4c0b314c9055eae02 +size 185123 diff --git a/episodes/c6_p000_e036/device_events.jsonl b/episodes/c6_p000_e036/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d81656fe7564aaa082aadd838f9ed5c594f49b9f --- /dev/null +++ b/episodes/c6_p000_e036/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 51, "t": 0.255, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 51, "t": 0.255, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 56, "t": 0.28, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1047, "t": 5.235, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 5743, "t": 28.715, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 6356, "t": 31.78, "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": 6356, "t": 31.78, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.7183973031150925}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 6356, "t": 31.78, "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": 6356, "t": 31.78, "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": 6356, "t": 31.78, "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": 6775, "t": 33.875, "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": 6775, "t": 33.875, "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": 6775, "t": 33.875, "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": 6775, "t": 33.875, "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": 6775, "t": 33.875, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 6775, "t": 33.875, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 6775, "t": 33.875, "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": 6775, "t": 33.875, "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": 6775, "t": 33.875, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.7183973031150925}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 7119, "t": 35.595, "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": 7119, "t": 35.595, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.72000000000088}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7119, "t": 35.595, "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": 1.72000000000088}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 7119, "t": 35.595, "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": 7119, "t": 35.595, "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": 7119, "t": 35.595, "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": 7539, "t": 37.695, "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": 7539, "t": 37.695, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.0526864652481436e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 7539, "t": 37.695, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.0526864652481436e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 7539, "t": 37.695, "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": 7539, "t": 37.695, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 7539, "t": 37.695, "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": 8119, "t": 40.595, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 33, "step": 9844, "t": 49.22, "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": 9844, "t": 49.22, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 9844, "t": 49.22, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 9844, "t": 49.22, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c6_p000_e036/env.mp4 b/episodes/c6_p000_e036/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..141493b0313850e53eb8251e96175d60e7cf9e1c --- /dev/null +++ b/episodes/c6_p000_e036/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa98731b6fb1d834f1eb0d97f1ed7fb3de40aa25965bc67a0410297d34a016b0 +size 1138691 diff --git a/episodes/c6_p000_e036/meta.json b/episodes/c6_p000_e036/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8bcd01f5b5042fcade642a1691941a2d9c2bb174 --- /dev/null +++ b/episodes/c6_p000_e036/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/36", + "fps": 25, + "frames": 1165, + "kept_ticks": "even", + "video_frames": { + "wrist": 1165, + "env": 1165 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e036/scene_snapshot.json b/episodes/c6_p000_e036/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..f0cbac06245931950984bf06bb7926b9cddf80cf --- /dev/null +++ b/episodes/c6_p000_e036/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 36, + "env_id": 3, + "run_id": "c6_p000", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 0.5043811798095703, + 0.1029367446899414, + 0.8999999761581421 + ], + "ori": [ + -0.6904402375221252, + 0.0, + 0.0, + 0.7233894467353821 + ], + "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": 0.2525416271712929, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.04965141048313221, + "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": 0.2525416271712929, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.09989547729492188, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.970592578004471e-09, + 3.758632516337457e-09, + -1.1010070920747239e-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": [ + 8.006196594578796e-09, + 7.589849815303751e-08, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -2.4858118194970302e-06, + 6.497586468867667e-08, + -1.0002941053244285e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2226476669311523, + 0.496612548828125, + 0.8999999761581421 + ], + "ori": [ + -0.9659546613693237, + -7.523144773813328e-09, + -1.6901294586091353e-08, + 0.2587118148803711 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.874871813356549e-09, + 3.47923290178187e-09, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -1.66257791534008e-07, + 9.405778200743953e-08, + -1.613842925962672e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.693709373474121, + 0.8604774475097656, + 0.8999999761581421 + ], + "ori": [ + 0.6452130079269409, + -3.838665563193899e-08, + -3.717972418826321e-08, + 0.7640028595924377 + ], + "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": [ + 1.611119984090692e-07, + 4.201733361242077e-08, + 1.0058283805847168e-07 + ], + "angular_velocity": [ + -6.189230816744384e-07, + 3.3599872040213086e-06, + 2.144050540664466e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.13497543334960938, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + 3.522787437759689e-06, + -3.751000399176974e-09, + -2.517785091527003e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.628242873863428e-09, + -2.6067537017837594e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 1.3866659287486982e-07, + -1.5327485414218245e-07, + -2.887876782153853e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.10614204406738281, + 0.4391326904296875, + 0.9179999828338623 + ], + "ori": [ + 0.9993772506713867, + 8.186998456949368e-08, + -7.914415789400664e-09, + 0.03528662398457527 + ], + "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": [ + -2.455459480188438e-07, + 2.1366540750022978e-06, + -9.346753358840942e-06 + ], + "angular_velocity": [ + 2.7466958272270858e-05, + -3.4654087357921526e-05, + 1.0878275134018622e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.2220420837402344, + 0.503972053527832, + 0.9180000424385071 + ], + "ori": [ + -0.9429166913032532, + 2.9663937084478675e-08, + -3.9349338010197243e-08, + 0.33302879333496094 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.235052190575516e-07, + 1.2933323887409642e-06, + -5.695968866348267e-06 + ], + "angular_velocity": [ + -0.00010929843119811267, + 6.076926729292609e-05, + 4.457811883185059e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 1.6905403137207031, + 0.8451471328735352, + 0.9180000424385071 + ], + "ori": [ + 0.7158896923065186, + -4.032082756566524e-07, + -3.2245307579614746e-07, + 0.6982133984565735 + ], + "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": [ + 6.138322532933671e-06, + -4.105686457478441e-06, + -5.4389238357543945e-06 + ], + "angular_velocity": [ + 3.324173667351715e-05, + 0.00024385732831433415, + -1.2371509910735767e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -0.1381521224975586, + 1.1592302322387695, + 0.9179999828338623 + ], + "ori": [ + -0.015927718952298164, + -3.568707107604041e-09, + -2.1222503754358968e-09, + 0.999873161315918 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.638300955482009e-08, + -2.8570102728053826e-08, + -2.4512410163879395e-06 + ], + "angular_velocity": [ + 4.3349419343030604e-07, + 1.4843737972114468e-06, + -2.0279708579096223e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 2.7999999999999625, + "step": 560, + "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": 0.2525416271712929, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 508, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.0501045286655426, + 7.748603820800781e-07, + 0.0 + ], + "carrier_2": [ + -1.3726476728916168, + 0.046612560749053955, + 0.0 + ], + "carrier_3": [ + 1.5437093675136566, + 0.4104774594306946, + 0.0 + ], + "carrier_4": [ + -0.28497543931007385, + 0.699998676776886, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.03978526150912687, + 0.006141102730749748, + 2.9075423012680206 + ], + "ori": [ + 11.940501157431981, + 13.871665708258636, + 28.880258984661026 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5326.296701160408, + "color": [ + 0.9506503536030475, + 0.9064443590247926, + 0.9610446464299915 + ], + "intensity": 14725.492365107379, + "width": 2.164941972906833, + "height": 1.722153541573197 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.049548851622139845, + -0.09159687270466477, + 2.390863522270157 + ], + "ori": [ + 21.84857388641403, + 9.734868605480635, + -5.5469598237571205 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 2824.235504654649, + "color": [ + 0.9053406888777324, + 0.95070052383271, + 0.9006028408097735 + ], + "intensity": 7780.027013501703, + "radius": 0.1552053848360492 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 685.4864358570453, + "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": [ + [ + -0.0524614080786705, + -2.182959794998169, + 2.388735771179199, + -1.7765371799468994, + -1.5705205202102661, + 4.723234176635742, + 0.01800001598894596, + 0.017999982461333275 + ], + [ + -0.0824887752532959, + -2.1943411827087402, + 2.5079147815704346, + -1.8843616247177124, + -1.570783019065857, + 4.620244026184082, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.6612873673439026, + -1.7950166463851929, + 2.2642982006073, + -2.040086269378662, + -1.5709750652313232, + 5.416556358337402, + 0.007676227018237114, + 0.007027472835034132 + ], + [ + 0.9141019582748413, + -1.719398021697998, + 2.09049916267395, + -1.9419002532958984, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -0.00040591839933767915, + 0.010093268938362598, + 0.012534769251942635, + -0.02190062776207924, + -0.00017195571854244918, + -0.0003812795621342957, + 1.6198994217120344e-06, + -1.6198629282371257e-06 + ], + [ + -0.0002865745045710355, + 0.0072227404452860355, + 0.0173970814794302, + -0.023879611864686012, + -8.210470696212724e-06, + -0.00023157653049565852, + 6.147828912617115e-08, + -6.14988593383714e-08 + ], + [ + 0.07276994735002518, + 0.02524803765118122, + -0.009480522014200687, + -0.01579682156443596, + 7.550926238764077e-05, + 0.06841243803501129, + -0.008470508269965649, + 0.0004876434395555407 + ], + [ + 2.3790023395045853e-38, + -2.2829489349689764e-38, + -1.633145537324901e-38, + -6.863164375784383e-37, + 6.254274857559015e-37, + 8.192000351272438e-38, + 2.5990386731677972e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.050360046327114105, + 0.0010493082227185369, + -0.03070637211203575, + -0.26705944538116455, + 0.6561592817306519, + 0.6468030214309692, + -0.2824536859989166 + ], + [ + 0.047579001635313034, + 0.00045463599963113666, + -0.02787465788424015, + -0.28525203466415405, + 0.6447481513023376, + 0.6521975994110107, + -0.2785128057003021 + ], + [ + 0.047338005155324936, + 0.002443662378937006, + -0.02861255779862404, + -0.2760012745857239, + 0.6524580121040344, + 0.6389533281326294, + -0.299767404794693 + ], + [ + 0.047589026391506195, + -0.0037714429199695587, + -0.029833214357495308, + -0.2869570851325989, + 0.6487581729888916, + 0.6488019227981567, + -0.2753625214099884 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e036/wrist.mp4 b/episodes/c6_p000_e036/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ebcddabb173336aa2e6cbcd937f19a08d2ef0145 --- /dev/null +++ b/episodes/c6_p000_e036/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39541fb3035187f8abffedc0ad22f692c8f4a268f383c73dc7af2c414cc0b6d1 +size 7042723 diff --git a/episodes/c6_p000_e037/data.npz b/episodes/c6_p000_e037/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..efe799fde64d465f3f1ba51258248801d48cb1bb --- /dev/null +++ b/episodes/c6_p000_e037/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50765da89412f5de9aaf4b3e891fcac8c551ec408d6d3e59fead921e62b88396 +size 183946 diff --git a/episodes/c6_p000_e037/device_events.jsonl b/episodes/c6_p000_e037/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..00e03801b5376b4bb7b0817f38771706b320916d --- /dev/null +++ b/episodes/c6_p000_e037/device_events.jsonl @@ -0,0 +1,39 @@ +{"env_id": 2, "seq": 1, "step": 78, "t": 0.39, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 78, "t": 0.39, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 83, "t": 0.415, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1001, "t": 5.005, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 1025, "t": 5.125, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 1042, "t": 5.21, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 1061, "t": 5.305, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 8, "step": 5890, "t": 29.45, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 6504, "t": 32.52, "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": 10, "step": 6504, "t": 32.52, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.3940370126861117}, "cause": "task-2-1"} +{"env_id": 2, "seq": 11, "step": 6504, "t": 32.52, "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": 12, "step": 6504, "t": 32.52, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 13, "step": 6504, "t": 32.52, "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": 14, "step": 6923, "t": 34.615, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 15, "step": 6923, "t": 34.615, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.29999998211860657}, "cause": "program-2-2"} +{"env_id": 2, "seq": 16, "step": 6923, "t": 34.615, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.29999998211860657}, "cause": "program-2-2"} +{"env_id": 2, "seq": 17, "step": 6923, "t": 34.615, "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": 18, "step": 6923, "t": 34.615, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 19, "step": 6923, "t": 34.615, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 20, "step": 6923, "t": 34.615, "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": 21, "step": 6923, "t": 34.615, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 22, "step": 6923, "t": 34.615, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.3940370126861117}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7402, "t": 37.01, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 7402, "t": 37.01, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.3950000000012253}, "cause": "program-2-3"} +{"env_id": 2, "seq": 25, "step": 7402, "t": 37.01, "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": 2.3950000000012253}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 26, "step": 7402, "t": 37.01, "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": 27, "step": 7402, "t": 37.01, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 28, "step": 7402, "t": 37.01, "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": 29, "step": 7821, "t": 39.105, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 30, "step": 7821, "t": 39.105, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.186584329739617e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 31, "step": 7821, "t": 39.105, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.186584329739617e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 32, "step": 7821, "t": 39.105, "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": 33, "step": 7821, "t": 39.105, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 34, "step": 7821, "t": 39.105, "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": 35, "step": 8401, "t": 42.005, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10068, "t": 50.34, "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": 37, "step": 10068, "t": 50.34, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 38, "step": 10068, "t": 50.34, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 39, "step": 10068, "t": 50.34, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c6_p000_e037/env.mp4 b/episodes/c6_p000_e037/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..41d2f788386d3bcb92bd551b66591a2f72e78ab6 --- /dev/null +++ b/episodes/c6_p000_e037/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bed5cd6e2b05fb7838744d5716c8ba8935012afda40392d792d6b2435f3e79d6 +size 1239198 diff --git a/episodes/c6_p000_e037/meta.json b/episodes/c6_p000_e037/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..04271c15ee689e690880d8390c35ccf2b4ae7c4b --- /dev/null +++ b/episodes/c6_p000_e037/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/37", + "fps": 25, + "frames": 1195, + "kept_ticks": "even", + "video_frames": { + "wrist": 1195, + "env": 1195 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e037/scene_snapshot.json b/episodes/c6_p000_e037/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..820a51523748cb620b691fb2904ba5e7ebe5eda3 --- /dev/null +++ b/episodes/c6_p000_e037/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 37, + "env_id": 2, + "run_id": "c6_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46108436584472656, + 0.05295372009277344, + 0.8999999761581421 + ], + "ori": [ + 0.7118666768074036, + 0.0, + 0.0, + -0.7023146152496338 + ], + "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": [ + 2.691332616835962e-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": 0.23539182097075584, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.00047531494252700535, + "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": 0.23539182097075584, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2697839736938477, + 0.5288267135620117, + 0.8999999761581421 + ], + "ori": [ + -0.9416555166244507, + 1.3089487538309186e-07, + 1.132860631969379e-07, + 0.3365783393383026 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.421192324523872e-07, + 1.200604970108543e-06, + -2.477318048477173e-06 + ], + "angular_velocity": [ + -0.00010503342491574585, + -5.6099270295817405e-05, + -1.4472198017756455e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6887969970703125, + 0.8830451965332031, + 0.8999999761581421 + ], + "ori": [ + 0.6152864694595337, + -1.022807367689893e-07, + 2.3121280889881746e-07, + 0.7883036732673645 + ], + "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": [ + 8.742858881305438e-09, + -2.1643309366936592e-08, + -1.1920928955078125e-07 + ], + "angular_velocity": [ + 2.6398747650091536e-06, + 1.4424938399315579e-06, + -2.1272296635288512e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5705432891845703, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 8.089515176834539e-05, + -4.980206913529628e-09, + -2.2871193827711522e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.115470104120277e-10, + -8.787857108671915e-10, + 0.0 + ], + "angular_velocity": [ + 9.447164472931036e-08, + -1.143482819543351e-08, + -7.3474692996455815e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1494588851928711, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.6569707262401607e-09, + -1.290079432170188e-10, + 8.571790203859564e-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": [ + 3.6084157883919943e-09, + 1.4087024879927412e-09, + 2.9802322387695312e-08 + ], + "angular_velocity": [ + -1.3449809443955019e-07, + 3.728103195044241e-07, + -9.611693663202914e-10 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.2555513381958008, + 0.5289669036865234, + 0.9179999828338623 + ], + "ori": [ + -0.9510970115661621, + 7.787778599777084e-08, + 1.1317627013340825e-07, + 0.3088923394680023 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.464168235543184e-06, + 2.5756869490578538e-06, + -1.6540288925170898e-06 + ], + "angular_velocity": [ + -0.00010373519762651995, + -5.7679244491737336e-05, + -9.065747690328863e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.692061424255371, + 0.8945732116699219, + 0.9180000424385071 + ], + "ori": [ + 0.6727588772773743, + 9.43570270806049e-08, + 2.1798581428811303e-07, + 0.7398618459701538 + ], + "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": [ + 3.8711300476279575e-06, + 4.464764970180113e-06, + -5.114823579788208e-06 + ], + "angular_velocity": [ + -2.3042710381560028e-05, + 5.569498898694292e-05, + -6.299350206973031e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.5647449493408203, + 1.147200584411621, + 0.9180000424385071 + ], + "ori": [ + -0.056317564100027084, + -4.629289840352158e-09, + -2.998978843038458e-10, + 0.9984129667282104 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.6617832443444058e-08, + -1.0980116371683835e-08, + -5.3122639656066895e-06 + ], + "angular_velocity": [ + -4.2106191244783986e-07, + 1.3809628853778122e-06, + 1.2970075147222815e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.16100788116455078, + 0.4610280990600586, + 0.9179999828338623 + ], + "ori": [ + 0.9999256134033203, + 4.377538331823416e-09, + -5.3360219021136857e-11, + -0.01219741627573967 + ], + "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": [ + -5.025496818689135e-08, + -6.086302306584912e-08, + -1.3783574104309082e-06 + ], + "angular_velocity": [ + 3.078457439187332e-06, + -2.8515216854430037e-06, + -9.742777251631196e-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": 2.7199999999999642, + "step": 544, + "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": 2.691332616835962e-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": 0.23539182097075584, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 465, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.4197839796543121, + 0.07882672548294067, + 0.0 + ], + "carrier_2": [ + 1.538796991109848, + 0.4330452084541321, + 0.0 + ], + "carrier_3": [ + 0.42054328322410583, + 0.6999967694282532, + 0.0 + ], + "carrier_4": [ + -0.0005411207675933838, + 1.7285346984863281e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.3300290885754671, + 0.21097341062572406, + 3.005663082140166 + ], + "ori": [ + -10.745038297588353, + 2.1810287163728113, + -9.911133240281536 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6911.144167302064, + "color": [ + 0.8948929647292443, + 0.8354057661693839, + 0.8931129640507129 + ], + "intensity": 9161.010648471827, + "width": 2.706699625428389, + "height": 1.1106903699195607 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.7056406294066644, + 1.5301055770793817, + 2.4402189659934983 + ], + "ori": [ + -34.52254578067908, + 9.082447311879534, + 25.591409502822458 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7340.312472804705, + "color": [ + 0.962303748582005, + 0.9292534226668631, + 0.9961112927851199 + ], + "intensity": 6654.793782408187, + "radius": 0.22648968928378183 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 685.4864358570453, + "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": [ + [ + 0.6177507042884827, + -1.9064373970031738, + 2.2912979125976562, + -1.9556211233139038, + -1.5717014074325562, + 2.9113755226135254, + 0.00771836144849658, + 0.007137046195566654 + ], + [ + 0.8480215668678284, + -1.8230807781219482, + 2.250431776046753, + -1.9990956783294678, + -1.5704543590545654, + 2.2181410789489746, + 0.007475415710359812, + 0.0066591049544513226 + ], + [ + 0.9141034483909607, + -1.7193964719772339, + 2.090498685836792, + -1.9419007301330566, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.973797082901001, + -2.2527668476104736, + 2.3631255626678467, + -1.6830917596817017, + -1.5713433027267456, + 3.529750108718872, + 0.0075134108774363995, + 0.007490960415452719 + ] + ], + "joint_vel": [ + [ + 0.027023648843169212, + 0.011742554605007172, + -0.00541333481669426, + -0.006696260068565607, + 7.110461592674255e-05, + -0.07155392318964005, + -0.0072686695493757725, + 0.0003941420582123101 + ], + [ + 0.03068055957555771, + 0.01450189109891653, + -0.0017386607360094786, + -0.004855518229305744, + -0.0032045054249465466, + -0.08007428795099258, + -0.006392831914126873, + 0.0001002956778393127 + ], + [ + 2.7416754779131127e-38, + 0.0, + 0.0, + -6.739351921293762e-37, + 4.105442180740778e-37, + -2.742491538086797e-37, + 2.5990388508034812e-08, + -2.599039028439165e-08 + ], + [ + 0.06870978325605392, + -0.04864989221096039, + 0.02691192738711834, + 0.024936337023973465, + -0.0009197983890771866, + 0.0779263973236084, + -0.00689571350812912, + 0.0004306994378566742 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05263112112879753, + 0.00102582189720124, + -0.03176593780517578, + -0.27316948771476746, + 0.6547021865844727, + 0.6475287675857544, + -0.2782982885837555 + ], + [ + 0.047378942370414734, + 0.002498142421245575, + -0.027296407148241997, + -0.282294362783432, + 0.6437133550643921, + 0.6521735191345215, + -0.28392383456230164 + ], + [ + 0.047082144767045975, + 0.0011285444488748908, + -0.02939733676612377, + -0.27675187587738037, + 0.6554967761039734, + 0.6376360058784485, + -0.2952163815498352 + ], + [ + 0.05085403844714165, + -0.0041315872222185135, + -0.030584897845983505, + -0.2798992097377777, + 0.6492219567298889, + 0.6515153646469116, + -0.27512726187705994 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e037/wrist.mp4 b/episodes/c6_p000_e037/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..26c26798c92dcac5e8be5c8f7ef56900fd0f9e35 --- /dev/null +++ b/episodes/c6_p000_e037/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cb65cc9f97627bef8f6eabb368a535c7bdb192ee763481fa1fded654e13321f +size 6650469 diff --git a/episodes/c6_p000_e038/data.npz b/episodes/c6_p000_e038/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..c5addc259f71628b78ff2219a914b983648b7916 --- /dev/null +++ b/episodes/c6_p000_e038/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:779beb89d38ab70bfdbe8110c6e8a80401eeef29d00f438c543cfdea6266458b +size 185214 diff --git a/episodes/c6_p000_e038/device_events.jsonl b/episodes/c6_p000_e038/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..07e378e3a72727a09a4469b1a6836873a43b8a27 --- /dev/null +++ b/episodes/c6_p000_e038/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 71, "t": 0.355, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 71, "t": 0.355, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 76, "t": 0.38, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6843, "t": 34.215, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7456, "t": 37.28, "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": 7456, "t": 37.28, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.0724451584878016}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7456, "t": 37.28, "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": 7456, "t": 37.28, "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": 7456, "t": 37.28, "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": 7875, "t": 39.375, "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": 7875, "t": 39.375, "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": 7875, "t": 39.375, "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": 7875, "t": 39.375, "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": 7875, "t": 39.375, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7875, "t": 39.375, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7875, "t": 39.375, "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": 7875, "t": 39.375, "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": 7875, "t": 39.375, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.0724451584878016}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8290, "t": 41.45, "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": 8290, "t": 41.45, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.0750000000010616}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8290, "t": 41.45, "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": 2.0750000000010616}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8290, "t": 41.45, "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": 8290, "t": 41.45, "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": 8290, "t": 41.45, "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": 8710, "t": 43.55, "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": 8710, "t": 43.55, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.4863698867025903e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8710, "t": 43.55, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.4863698867025903e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8710, "t": 43.55, "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": 8710, "t": 43.55, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8710, "t": 43.55, "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": 9292, "t": 46.46, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10952, "t": 54.76, "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": 10952, "t": 54.76, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10952, "t": 54.76, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10952, "t": 54.76, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c6_p000_e038/env.mp4 b/episodes/c6_p000_e038/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..652a7b65773f3398539716d3a14563146202d0ae --- /dev/null +++ b/episodes/c6_p000_e038/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a42aefa80450db9858ce13869a3272b4607cb286a1bb45528e96714ce66f3c5 +size 1222850 diff --git a/episodes/c6_p000_e038/meta.json b/episodes/c6_p000_e038/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..499cb988dda8d9f80922627061acba7e7c3c6968 --- /dev/null +++ b/episodes/c6_p000_e038/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/38", + "fps": 25, + "frames": 1180, + "kept_ticks": "even", + "video_frames": { + "wrist": 1180, + "env": 1180 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e038/scene_snapshot.json b/episodes/c6_p000_e038/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..7f9335f1620d617d929d9e4daf53c304197a8b1f --- /dev/null +++ b/episodes/c6_p000_e038/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 38, + "env_id": 1, + "run_id": "c6_p000", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5073986053466797, + 0.06928730010986328, + 0.8999999761581421 + ], + "ori": [ + -0.6957700252532959, + 0.0, + 0.0, + 0.718264639377594 + ], + "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": [ + 1.6820826415769874e-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": 0.28780552436492524, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.014603975612471676, + "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": 0.28780552436492524, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.13494586944580078, + 0.4499979019165039, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -4.1674254325219096e-11, + -1.590076736945889e-09, + -7.577728865726385e-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": [ + -9.564866676470274e-10, + 2.3517228164848802e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.2900341062049847e-07, + -9.160287817167045e-08, + 4.432125777498186e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.11524677276611328, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + 4.303478362999158e-06, + 6.080314723933e-11, + -5.976343864233513e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.736938619132047e-10, + -2.0741597328566286e-09, + 0.0 + ], + "angular_velocity": [ + 1.549053791904953e-07, + 4.961810162740221e-08, + -3.509770252208e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3511009216308594, + 0.9730091094970703, + 0.8999999761581421 + ], + "ori": [ + -0.4923167824745178, + -2.253242392669108e-08, + -2.0877969575394673e-08, + 0.8704161047935486 + ], + "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": [ + -1.881111932888757e-11, + -1.3236683971129537e-10, + 0.0 + ], + "angular_velocity": [ + 1.7258154016985827e-08, + 5.385028600812802e-08, + 1.1539867728060926e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4660310745239258, + 0.4732475280761719, + 0.8999999761581421 + ], + "ori": [ + 0.9870654940605164, + -5.198620556257083e-08, + 5.1697767844416376e-08, + 0.16031774878501892 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.319336139284701e-09, + -1.732988197389318e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -1.0768071945221891e-07, + 1.8498543852274452e-07, + 3.6948534898328944e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.13070297241210938, + 0.4434223175048828, + 0.9179999828338623 + ], + "ori": [ + 0.9982205033302307, + -1.3550148780794302e-09, + 5.904036148862701e-10, + -0.05963157117366791 + ], + "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": [ + -2.826004852352071e-08, + 2.5170542983232735e-08, + 9.685754776000977e-08 + ], + "angular_velocity": [ + -6.825021614531579e-07, + -1.6823049691083725e-06, + 1.4781775803385244e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -0.12597942352294922, + 1.1556005477905273, + 0.9180000424385071 + ], + "ori": [ + -0.08879946917295456, + -5.431530225585846e-10, + -6.677987052228218e-10, + 0.9960495233535767 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.949726424754772e-08, + -1.3664369191701553e-08, + -5.416572093963623e-06 + ], + "angular_velocity": [ + -3.874643539347744e-08, + 1.291256239710492e-06, + 1.3601982118416345e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.3394556045532227, + 0.9751348495483398, + 0.9179999828338623 + ], + "ori": [ + -0.576126754283905, + -2.4585990132663937e-08, + -1.8422047887156623e-08, + 0.8173604011535645 + ], + "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": [ + -8.900370218611897e-09, + 9.76435643451623e-09, + -5.669891834259033e-06 + ], + "angular_velocity": [ + -1.1988777259830385e-06, + -1.510440910124089e-07, + -2.451750091836402e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.455820083618164, + 0.4584980010986328, + 0.9179999828338623 + ], + "ori": [ + 0.9927600622177124, + -6.025071286330785e-08, + 5.007532877243648e-08, + 0.1201145201921463 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.395626499042464e-10, + 2.3165624973842114e-09, + 2.905726432800293e-07 + ], + "angular_velocity": [ + 1.9791798422374995e-07, + -2.101736981785507e-06, + 1.1192222260092421e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 7.719999999999858, + "step": 1544, + "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": 1.6820826415769874e-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": 0.28780552436492524, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1472, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.015054136514663696, + -2.086162567138672e-06, + 0.0 + ], + "carrier_2": [ + -0.26524677872657776, + 0.6999996304512024, + 0.0 + ], + "carrier_3": [ + -1.5011009275913239, + 0.5230091214179993, + 0.0 + ], + "carrier_4": [ + 1.3160310685634613, + 0.02324753999710083, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.6039944146985118, + -0.038714914152549906, + 3.0539334386058155 + ], + "ori": [ + 7.130260510553548, + -5.761986773242759, + -21.21117659593496 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5922.488926018775, + "color": [ + 0.9536493632108062, + 0.8961222447943302, + 0.9217156684522033 + ], + "intensity": 4507.60321790091, + "width": 2.1551187480695924, + "height": 1.6034070025439462 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.1723397271933993, + -0.8526476082839657, + 2.2250597730616857 + ], + "ori": [ + -7.5718433321705305, + -38.1748292019916, + 10.950378483024473 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5099.804744672004, + "color": [ + 0.8032838314918351, + 0.9152775927860134, + 0.8200436048572013 + ], + "intensity": 6715.080291823666, + "radius": 0.12097309639535432 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1265.161915197668, + "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": [ + [ + 1.0132532119750977, + -1.4729130268096924, + 2.0460572242736816, + -2.143911600112915, + -1.5707967281341553, + 2.4216361045837402, + 0.018000924959778786, + 0.01799909584224224 + ], + [ + 0.9141026735305786, + -1.7193983793258667, + 2.0904994010925293, + -1.9419001340866089, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.5419349670410156, + -2.232189416885376, + 2.237231731414795, + -1.5758335590362549, + -1.5704352855682373, + 4.112188816070557, + 0.017999975010752678, + 0.018000023439526558 + ], + [ + 2.529125213623047, + -2.234412431716919, + 2.420891284942627, + -1.7572256326675415, + -1.5707893371582031, + 4.101709842681885, + 0.007683986332267523, + 0.006898653227835894 + ] + ], + "joint_vel": [ + [ + 0.006804050877690315, + 0.017671577632427216, + -0.002847318071871996, + -0.013854636810719967, + 7.634602297912352e-06, + -0.00434517115354538, + 2.3078966478351504e-05, + -2.331441646674648e-05 + ], + [ + 3.4059648896800354e-06, + 3.405933284739149e-06, + -1.0547662569748706e-11, + 3.4059755762427812e-06, + 3.804654616530734e-13, + 1.1002224522063675e-12, + 2.5990404495246366e-08, + -2.59903067956202e-08 + ], + [ + -0.01139659434556961, + -0.01738603413105011, + 0.006146951112896204, + 0.010853047482669353, + -1.0788642612169497e-05, + -0.011403419077396393, + -2.3031905129755614e-06, + 2.303230303368764e-06 + ], + [ + -0.00031301373383030295, + -0.00013570417650043964, + -0.00044477960909716785, + -0.00027200565091334283, + -0.0008339475025422871, + 0.0021958553697913885, + -0.009997247718274593, + 0.0003081667819060385 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.052619818598032, + 0.00038246301119215786, + -0.02776121348142624, + -0.27392759919166565, + 0.6535710096359253, + 0.6468599438667297, + -0.2817460298538208 + ], + [ + 0.048309627920389175, + -0.0010591218015179038, + -0.02938324585556984, + -0.28344571590423584, + 0.6457953453063965, + 0.6521817445755005, + -0.2779674828052521 + ], + [ + 0.046376340091228485, + 0.0012774753849953413, + -0.028995513916015625, + -0.2785409390926361, + 0.6549291610717773, + 0.6376924514770508, + -0.29467108845710754 + ], + [ + 0.05015695095062256, + 0.00011142760195070878, + -0.03025148995220661, + -0.27741941809654236, + 0.6460562348365784, + 0.6557748913764954, + -0.2749711275100708 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e038/wrist.mp4 b/episodes/c6_p000_e038/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..492944a5a25ff278533f9951566a9916fbc63eb7 --- /dev/null +++ b/episodes/c6_p000_e038/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dda02566ebb945335c25f19f552558a357b7e138c658b75730ed6b738999cf71 +size 7422100 diff --git a/episodes/c6_p000_e039/data.npz b/episodes/c6_p000_e039/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..c8986049835f60ce72d5142564b8eb719cfa2fd0 --- /dev/null +++ b/episodes/c6_p000_e039/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68b2ae1aac3d6370da4b8f544638077fe705674688ad2bae5435ed1a61b25d24 +size 202762 diff --git a/episodes/c6_p000_e039/device_events.jsonl b/episodes/c6_p000_e039/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dec556f36a0bab5f92f3d9604bf4dfd6a8ae6ad8 --- /dev/null +++ b/episodes/c6_p000_e039/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 140, "t": 0.7, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "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_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6299, "t": 31.495, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6912, "t": 34.56, "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": 6912, "t": 34.56, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.642740584242096}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6912, "t": 34.56, "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": 6912, "t": 34.56, "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": 6912, "t": 34.56, "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": 7331, "t": 36.655, "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": 7331, "t": 36.655, "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": 7331, "t": 36.655, "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": 7331, "t": 36.655, "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": 7331, "t": 36.655, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7331, "t": 36.655, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7331, "t": 36.655, "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": 7331, "t": 36.655, "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": 7331, "t": 36.655, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.642740584242096}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 8260, "t": 41.3, "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": 8260, "t": 41.3, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.645000000002376}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8260, "t": 41.3, "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": 4.645000000002376}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8260, "t": 41.3, "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": 8260, "t": 41.3, "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": 8260, "t": 41.3, "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": 8680, "t": 43.4, "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": 8680, "t": 43.4, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.2654975956039038e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8680, "t": 43.4, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.2654975956039038e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8680, "t": 43.4, "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": 8680, "t": 43.4, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8680, "t": 43.4, "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": 9258, "t": 46.29, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 11544, "t": 57.72, "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": 11544, "t": 57.72, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11544, "t": 57.72, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 11544, "t": 57.72, "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_p000_e039/env.mp4 b/episodes/c6_p000_e039/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fa53b943524f723392f18239b26ff3864aee36e9 --- /dev/null +++ b/episodes/c6_p000_e039/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:912ccc41719ff764f45e2d6ebc4475bd22674a1d6e9a53d6904cae9b165c7d49 +size 1335292 diff --git a/episodes/c6_p000_e039/meta.json b/episodes/c6_p000_e039/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..75e0bb6f21070ceff96d1546a497943da03fbaac --- /dev/null +++ b/episodes/c6_p000_e039/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p000/magicsim/39", + "fps": 25, + "frames": 1289, + "kept_ticks": "even", + "video_frames": { + "wrist": 1289, + "env": 1289 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p000_e039/scene_snapshot.json b/episodes/c6_p000_e039/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..ad3401d0d2c44b15fb682260c3bcd3180f24de7c --- /dev/null +++ b/episodes/c6_p000_e039/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 39, + "env_id": 0, + "run_id": "c6_p000", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4785776138305664, + 0.06960201263427734, + 0.8999999761581421 + ], + "ori": [ + -0.706503689289093, + 0.0, + 0.0, + 0.7077093720436096 + ], + "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": 0.2582152713250421, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.14963134012055956, + "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": 0.2582152713250421, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.00030231475830078125, + 0.4475288391113281, + 0.8999999761581421 + ], + "ori": [ + 0.9999528527259827, + -7.947048574763471e-11, + 1.5670623687569218e-09, + 0.009714273735880852 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.041404126439943e-10, + 1.3829560829847765e-09, + 0.0 + ], + "angular_velocity": [ + -1.5623712101842102e-07, + 4.2348837325789646e-08, + -1.0294243679709325e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3895893096923828, + 0.8729343414306641, + 0.8999999761581421 + ], + "ori": [ + -0.6215508580207825, + -1.280412362802963e-07, + -8.374953353040837e-08, + 0.7833737730979919 + ], + "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": [ + 8.969465170594049e-10, + 1.0669203298618868e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.201068329237387e-07, + -2.4951456012445306e-08, + 1.7727231238495733e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5941143035888672, + 1.0471229553222656, + 0.9000051021575928 + ], + "ori": [ + 0.39304739236831665, + -3.540486068231985e-05, + -0.000142870529089123, + 0.9195182919502258 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 0.0003126976080238819, + 0.00042851685429923236, + -0.0007943809032440186 + ], + "angular_velocity": [ + -0.036741677671670914, + 0.027289165183901787, + -0.0001111876918002963 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6458702087402344, + 1.1525230407714844, + 0.8999999761581421 + ], + "ori": [ + -0.009466639719903469, + -1.0867957644933313e-09, + -8.711704690966826e-10, + 0.9999552369117737 + ], + "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": [ + -3.563642270165701e-09, + -6.726018852987181e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 8.84441419657378e-07, + -2.3087639533514448e-07, + -6.432212273921323e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -0.0030832290649414062, + 0.4507608413696289, + 0.9179999828338623 + ], + "ori": [ + 0.9961569309234619, + -5.391643242980138e-10, + 3.1356748309008253e-09, + 0.08758672326803207 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.608976146234454e-08, + -1.03970947407106e-08, + 9.313225746154785e-08 + ], + "angular_velocity": [ + 7.179023100434279e-07, + -1.4940612800273811e-06, + 8.647712945730746e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -1.39556884765625, + 0.8665370941162109, + 0.9180000424385071 + ], + "ori": [ + -0.6680681705474854, + -1.3365797713049687e-07, + -7.644577237897465e-08, + 0.7441001534461975 + ], + "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": [ + -1.2826435025203864e-08, + 5.174084805048551e-08, + -5.543231964111328e-06 + ], + "angular_velocity": [ + -2.375556277911528e-06, + -1.7856389149528695e-06, + 5.710563755201292e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.5955123901367188, + 1.0550470352172852, + 0.9180050492286682 + ], + "ori": [ + 0.3488614857196808, + -6.148934335215017e-05, + -0.00014250788080971688, + 0.9371743202209473 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 0.0006614568992517889, + 0.0007451518904417753, + -0.0011515989899635315 + ], + "angular_velocity": [ + -0.036621395498514175, + 0.02949897013604641, + 0.0009341187542304397 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.6355304718017578, + 1.141336441040039, + 0.9179999828338623 + ], + "ori": [ + -0.028716225177049637, + 5.784933643226964e-10, + -2.5740543030394747e-09, + 0.9995876550674438 + ], + "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": [ + 5.319279594573345e-08, + 4.749470150500201e-09, + -1.0952353477478027e-06 + ], + "angular_velocity": [ + -1.7549049289300456e-06, + 3.005911366926739e-06, + -9.563936487211322e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 6.3199999999998875, + "step": 1264, + "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": 0.2582152713250421, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1123, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.1496976912021637, + -0.00247114896774292, + 0.0 + ], + "carrier_2": [ + -1.5395893156528473, + 0.422934353351593, + 0.0 + ], + "carrier_3": [ + 1.4441142976284027, + 0.5971229672431946, + 5.125999450683594e-06 + ], + "carrier_4": [ + 0.4958702027797699, + 0.7025230526924133, + 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": [ + 0.8497917087249068, + 0.13914671360275466, + 2.9135247482463558 + ], + "ori": [ + 6.096289399368704, + -2.5823886238891784, + -2.6172862133952215 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6550.810298552004, + "color": [ + 0.9144465369043298, + 0.8615886947918991, + 0.8121489383483943 + ], + "intensity": 15187.781179343743, + "width": 1.522480277385765, + "height": 1.5860191265335501 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.19776720767940947, + 0.14641244139590515, + 2.0036865147428338 + ], + "ori": [ + 24.198026435324323, + 29.720223387774695, + -32.81521288159618 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4702.197270787159, + "color": [ + 0.9394006204545571, + 0.9675340845839843, + 0.7902593547997578 + ], + "intensity": 8821.766391141642, + "radius": 0.41618064092811935 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1265.161915197668, + "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 + ], + [ + 0.9141026735305786, + -1.7193983793258667, + 2.0904994010925293, + -1.9419001340866089, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.6869707107543945, + -1.9803234338760376, + 2.124624252319336, + -1.715149998664856, + -1.570438027381897, + 4.257221698760986, + 0.018000023439526558, + 0.017999975010752678 + ], + [ + 2.5291244983673096, + -2.2344131469726562, + 2.4208924770355225, + -1.7572252750396729, + -1.5707892179489136, + 4.101707935333252, + 0.0076839132234454155, + 0.0068986061960458755 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 3.4059648896800354e-06, + 3.4059330573654734e-06, + -1.0623650396890394e-11, + 3.4059751214954304e-06, + 3.6968201395058686e-13, + 6.636223688627485e-13, + 2.599036186268222e-08, + -2.5990223306848748e-08 + ], + [ + -0.010773129761219025, + -0.024095971137285233, + 0.01326906681060791, + 0.010187720879912376, + -1.3956904695078265e-05, + -0.010885776951909065, + -3.0893434086465277e-06, + 3.089488700425136e-06 + ], + [ + -0.0002862974361050874, + -0.00010186160943703726, + -0.00047905780957080424, + -0.00028931477572768927, + -0.0008401301456615329, + 0.0022582802921533585, + -0.010032322257757187, + 0.000267954746959731 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05473260208964348, + -0.0015966813080012798, + -0.029600104317069054, + -0.2717776596546173, + 0.6540635824203491, + 0.6472756266593933, + -0.2817302942276001 + ], + [ + 0.04727230221033096, + -0.0014295384753495455, + -0.026797039434313774, + -0.28248855471611023, + 0.6458249688148499, + 0.6527373790740967, + -0.2775684595108032 + ], + [ + 0.048593614250421524, + 0.001840827171690762, + -0.02936164289712906, + -0.27874454855918884, + 0.6524648070335388, + 0.640351414680481, + -0.29417884349823 + ], + [ + 0.048098791390657425, + -0.0016097687184810638, + -0.028459500521421432, + -0.2831886410713196, + 0.6470420360565186, + 0.6516903638839722, + -0.27647864818573 + ] + ], + "camera1": [ + [ + 0.07212511450052261, + 0.5564286112785339, + 1.9436869621276855, + 0.05312254652380943, + -0.0020520880352705717, + 0.26256465911865234, + 0.9634488224983215 + ], + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p000_e039/wrist.mp4 b/episodes/c6_p000_e039/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..79f8e7a2fe2786156eec87f8033763deb5f1882e --- /dev/null +++ b/episodes/c6_p000_e039/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d34e74486c18015a7d7cf1d74eb1dc8911745af2fbf7046cf9d7f5a461d46277 +size 7462557 diff --git a/episodes/c6_p001_e000/data.npz b/episodes/c6_p001_e000/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..ce8a6a6575e7c1df399dcf54aee1cf4d1f9a7f12 --- /dev/null +++ b/episodes/c6_p001_e000/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:006ca549a17f76dcf65ac706e161c67a120a50637ebecd056f23415fa5026170 +size 189379 diff --git a/episodes/c6_p001_e000/device_events.jsonl b/episodes/c6_p001_e000/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..298c53c6b7b865c674e8a4348f320b6edfd72ef4 --- /dev/null +++ b/episodes/c6_p001_e000/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 140, "t": 0.7, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "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": 2, "seq": 3, "step": 145, "t": 0.725, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6399, "t": 31.995, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 7012, "t": 35.06, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 6, "step": 7012, "t": 35.06, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.7586928179096435}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7012, "t": 35.06, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 8, "step": 7012, "t": 35.06, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 7012, "t": 35.06, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 7431, "t": 37.155, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 7431, "t": 37.155, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 7431, "t": 37.155, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7431, "t": 37.155, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7431, "t": 37.155, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7431, "t": 37.155, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7431, "t": 37.155, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 17, "step": 7431, "t": 37.155, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 7431, "t": 37.155, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.7586928179096435}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 8183, "t": 40.915, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 8183, "t": 40.915, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.7600000000019236}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 8183, "t": 40.915, "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": 3.7600000000019236}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8183, "t": 40.915, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 23, "step": 8183, "t": 40.915, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 8183, "t": 40.915, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 8603, "t": 43.015, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 8603, "t": 43.015, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 6.588449924516127e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8603, "t": 43.015, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 6.588449924516127e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8603, "t": 43.015, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8603, "t": 43.015, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8603, "t": 43.015, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 9182, "t": 45.91, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 10912, "t": 54.56, "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": 33, "step": 10912, "t": 54.56, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10912, "t": 54.56, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10912, "t": 54.56, "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/c6_p001_e000/env.mp4 b/episodes/c6_p001_e000/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d08c5f32cd284b55d55eddccd41efe178dd617d4 --- /dev/null +++ b/episodes/c6_p001_e000/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6cc8ffc535497ceebe4e8b95909c8894abb2034e30c65f51983b10b9f4beb05 +size 1228914 diff --git a/episodes/c6_p001_e000/meta.json b/episodes/c6_p001_e000/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..850b604967ad8d1fd8cdb288cfacf4287fd7d6fe --- /dev/null +++ b/episodes/c6_p001_e000/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/0", + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e000/scene_snapshot.json b/episodes/c6_p001_e000/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..bcfd0ca6755c951cdbb4f052c32c045358b8f188 --- /dev/null +++ b/episodes/c6_p001_e000/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 0, + "env_id": 2, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 0.5043811798095703, + 0.1029367446899414, + 0.8999999761581421 + ], + "ori": [ + -0.6904402375221252, + 0.0, + 0.0, + 0.7233894467353821 + ], + "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": 0.22079681275608834, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.256073122568499, + "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": 0.22079681275608834, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.105621337890625, + 0.44698238372802734, + 0.8999999761581421 + ], + "ori": [ + 0.9999841451644897, + -1.337850363825055e-08, + 1.3990874236924356e-08, + 0.005636537913233042 + ], + "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": [ + -2.721652947457187e-08, + -2.9085846620091615e-08, + 5.960464477539063e-08 + ], + "angular_velocity": [ + 5.0201356316392776e-06, + -1.767357957760396e-06, + 7.117370728337846e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6340198516845703, + 1.152420997619629, + 0.8999999761581421 + ], + "ori": [ + -0.011160368099808693, + 5.475192521586791e-10, + 3.04529512717977e-09, + 0.9999377131462097 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.710283274533822e-10, + -7.439758809013597e-10, + 0.0 + ], + "angular_velocity": [ + 9.291702696145876e-08, + -2.2919591557979402e-08, + -8.629262637782631e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4873847961425781, + 0.48174381256103516, + 0.8999999761581421 + ], + "ori": [ + 0.9807968735694885, + -8.858311417725417e-09, + 1.8574109361679803e-08, + 0.19503185153007507 + ], + "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": [ + 1.3813014732022566e-08, + -7.54067386310453e-08, + -5.21540641784668e-08 + ], + "angular_velocity": [ + 2.1031855794717558e-06, + -5.750866307607794e-07, + 8.383753993257415e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3606224060058594, + 0.9552736282348633, + 0.8999999761581421 + ], + "ori": [ + -0.5233910083770752, + 2.3648514257956776e-08, + 3.0288795471733465e-08, + 0.8520927429199219 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3826839673214408e-10, + -5.21386767093901e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 5.284584148057547e-08, + -5.8547540149334054e-09, + -3.93064647496999e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -0.1149892807006836, + 0.44609642028808594, + 0.9180000424385071 + ], + "ori": [ + 0.9954439997673035, + -1.378930925000077e-08, + 1.20811776582741e-07, + 0.09534779191017151 + ], + "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": [ + -1.8453401935403235e-06, + -5.131926627655048e-06, + -1.564621925354004e-06 + ], + "angular_velocity": [ + 2.6996751330443658e-05, + -1.1170184734510258e-05, + 5.784264089925273e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.6317424774169922, + 1.1446552276611328, + 0.9180000424385071 + ], + "ori": [ + 0.023112621158361435, + -7.095003473622796e-10, + 3.4494829215248046e-09, + 0.9997328519821167 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5162862965212298e-08, + -8.572047516253178e-10, + -4.7497451305389404e-06 + ], + "angular_velocity": [ + -6.77514151448122e-07, + 1.5568433582302532e-06, + 6.08868901963433e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.4863853454589844, + 0.4700489044189453, + 0.9180000424385071 + ], + "ori": [ + 0.990006148815155, + -2.991985184053192e-07, + 1.9715805876785453e-08, + 0.14102472364902496 + ], + "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": [ + 2.2091953724157065e-06, + -4.6422183004324324e-06, + -6.05359673500061e-06 + ], + "angular_velocity": [ + 0.00011911154433619231, + -2.023138222284615e-06, + -3.555475632310845e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.3566856384277344, + 0.9546260833740234, + 0.9179999828338623 + ], + "ori": [ + -0.4838089346885681, + 5.9569217114585626e-08, + 1.4948196280784032e-07, + 0.8751736879348755 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.730253142630318e-08, + -3.45811656643491e-07, + -1.7695128917694092e-06 + ], + "angular_velocity": [ + 2.3339949621004052e-05, + -3.4756176319206133e-06, + 1.033968260344409e-06 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 5.299999999999909, + "step": 1060, + "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": 0.22079681275608834, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 919, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.2556213438510895, + -0.003017604351043701, + 0.0 + ], + "carrier_2": [ + 0.48401984572410583, + 0.7024210095405579, + 0.0 + ], + "carrier_3": [ + 1.3373847901821136, + 0.03174382448196411, + 0.0 + ], + "carrier_4": [ + -1.5106224119663239, + 0.5052736401557922, + 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": [ + 0.3657194837484331, + 0.2696396521557489, + 3.041969995060167 + ], + "ori": [ + -13.3508754904523, + -13.30150631225762, + 4.287589254160615 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3959.0911204769714, + "color": [ + 0.8780534730121488, + 0.8883637634103225, + 0.7907533413027068 + ], + "intensity": 13189.36619698509, + "width": 2.766595103742761, + "height": 0.9721315511539285 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.1082161495615157, + 1.5004952570834191, + 1.9369121948731485 + ], + "ori": [ + -22.43128016209731, + 20.84700457052412, + -6.196472860399432 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6545.255403636641, + "color": [ + 0.8624993953840056, + 0.9742666535135278, + 0.987780696200532 + ], + "intensity": 10442.793213014547, + "radius": 0.46460835396874556 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1494.4946316170299, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141025543212891, + -1.719397783279419, + 2.0904994010925293, + -1.9419012069702148, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.118216633796692, + -1.2290688753128052, + 2.1673388481140137, + -2.509021043777466, + -1.5708304643630981, + 2.5097436904907227, + 0.00759431766346097, + 0.007013286929577589 + ], + [ + 0.9141020774841309, + -1.7193984985351562, + 2.0904996395111084, + -1.9419007301330566, + -1.5707999467849731, + 2.48490047454834, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9454118609428406, + -1.6651983261108398, + 2.108201742172241, + -2.0137829780578613, + -1.570772647857666, + 2.543308734893799, + 0.01800132729113102, + 0.017998691648244858 + ] + ], + "joint_vel": [ + [ + -2.442258073222979e-38, + 2.97718246224232e-38, + 2.7947636702340584e-38, + 4.5719288343206525e-37, + -5.715706756220798e-37, + -7.685524002637048e-38, + 2.5990400942532688e-08, + -2.5990388508034812e-08 + ], + [ + -0.0003412857186049223, + -2.3668881112826057e-05, + -0.00012303132098168135, + -0.0014709956012666225, + 0.0012958598090335727, + 0.004249305929988623, + -0.007952608168125153, + 0.0003017834678757936 + ], + [ + 3.4059653444273863e-06, + 1.638841406331748e-12, + 1.622600816729436e-12, + -3.405976030990132e-06, + -3.405978077353211e-06, + 7.443874076168422e-13, + 1.5968674407958183e-13, + 1.0129257052267707e-13 + ], + [ + 0.013345889747142792, + 0.02409985475242138, + 0.007971172221004963, + -0.0304244477301836, + 1.4514766917272937e-05, + 0.024822860956192017, + 4.0042057662503794e-05, + -4.0245078707812354e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04839346557855606, + 0.0008299414766952395, + -0.026683107018470764, + -0.2866799831390381, + 0.6397387385368347, + 0.651452362537384, + -0.2901013493537903 + ], + [ + 0.05054920166730881, + 0.00034982836223207414, + -0.029959047213196754, + -0.28201740980148315, + 0.6540114879608154, + 0.6382232308387756, + -0.2922435402870178 + ], + [ + 0.0481087900698185, + -0.0024489571806043386, + -0.03090188279747963, + -0.28543806076049805, + 0.6491069197654724, + 0.6498626470565796, + -0.27361252903938293 + ], + [ + 0.04928959906101227, + 0.0032753630075603724, + -0.03328285738825798, + -0.2798770070075989, + 0.6474844813346863, + 0.6484619379043579, + -0.2862337827682495 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e000/wrist.mp4 b/episodes/c6_p001_e000/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1747e00ca3a09a6a48fbfb42c2d9426d41a6ca51 --- /dev/null +++ b/episodes/c6_p001_e000/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76350895795abf80ffcbebed0436ed460f1b9aaae5444382272b06ba5e583c11 +size 8131134 diff --git a/episodes/c6_p001_e001/data.npz b/episodes/c6_p001_e001/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..a82ac3354685d548dcf5499b9fac9547dc1a9561 --- /dev/null +++ b/episodes/c6_p001_e001/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:afb9a250a0b97b318165162707e00e78ec06fdbaa2eaf0a2f8fefccb7c22d388 +size 193328 diff --git a/episodes/c6_p001_e001/device_events.jsonl b/episodes/c6_p001_e001/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67f60e1850ac18ef0ae51cb34ee45307d1e6a3b1 --- /dev/null +++ b/episodes/c6_p001_e001/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 69, "t": 0.345, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 69, "t": 0.345, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 74, "t": 0.37, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1405, "t": 7.025, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6342, "t": 31.71, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 6956, "t": 34.78, "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": 6956, "t": 34.78, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.433821769663297}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 6956, "t": 34.78, "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": 6956, "t": 34.78, "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": 6956, "t": 34.78, "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": 7375, "t": 36.875, "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": 7375, "t": 36.875, "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": 7375, "t": 36.875, "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": 7375, "t": 36.875, "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": 7375, "t": 36.875, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7375, "t": 36.875, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 7375, "t": 36.875, "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": 7375, "t": 36.875, "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": 7375, "t": 36.875, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.433821769663297}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 8262, "t": 41.31, "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": 8262, "t": 41.31, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.435000000002269}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8262, "t": 41.31, "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": 4.435000000002269}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 8262, "t": 41.31, "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": 8262, "t": 41.31, "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": 8262, "t": 41.31, "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": 8682, "t": 43.41, "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": 8682, "t": 43.41, "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": 8682, "t": 43.41, "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": 8682, "t": 43.41, "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": 8682, "t": 43.41, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8682, "t": 43.41, "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": 9263, "t": 46.315, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 33, "step": 11000, "t": 55.0, "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": 11000, "t": 55.0, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 11000, "t": 55.0, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 11000, "t": 55.0, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c6_p001_e001/env.mp4 b/episodes/c6_p001_e001/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..76e6fd0f3aff7dfe7c7605b5c108aa5e228afefa --- /dev/null +++ b/episodes/c6_p001_e001/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e02995413768ee1729cfcb39302addb72b9f2375860d344be8b4d07af13aee6 +size 1270826 diff --git a/episodes/c6_p001_e001/meta.json b/episodes/c6_p001_e001/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e70b086006d3d642f8756d13c3875e6e3dedd831 --- /dev/null +++ b/episodes/c6_p001_e001/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/1", + "fps": 25, + "frames": 1255, + "kept_ticks": "even", + "video_frames": { + "wrist": 1255, + "env": 1255 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e001/scene_snapshot.json b/episodes/c6_p001_e001/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..38812f9e4fb78d2cbc5ccf2425c22c496399f8b6 --- /dev/null +++ b/episodes/c6_p001_e001/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 1, + "env_id": 3, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.47048377990722656, + 0.05947589874267578, + 0.8999999761581421 + ], + "ori": [ + -0.6987550854682922, + 0.0, + 0.0, + 0.7153609991073608 + ], + "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": [ + 3.3641637652709333e-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": 0.22111961216322235, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.16821375535084035, + "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": 0.22111961216322235, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.017806053161621094, + 0.45000362396240234, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.6487410043074533e-09, + 1.1160078416949659e-10, + -8.797648661129642e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.775413811752287e-10, + 4.689647004063602e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.6498866273195745e-08, + 9.54121404106445e-08, + -9.578701387624733e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.02033710479736328, + 1.1500053405761719, + 0.8999999761581421 + ], + "ori": [ + 2.615665835037362e-06, + 4.257150365560847e-08, + 5.432819527584343e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.25363344547236e-09, + 1.9314976285045304e-08, + 3.725290298461914e-08 + ], + "angular_velocity": [ + -4.5899204792476667e-07, + 3.2868183552636765e-07, + -9.709635406807138e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.9958276748657227, + 1.1500883102416992, + 0.8999999761581421 + ], + "ori": [ + 0.0004523729730863124, + 1.0919031900868958e-08, + -2.9414252367132576e-08, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.006974947870276e-08, + 2.5681475790406694e-07, + 1.0058283805847168e-07 + ], + "angular_velocity": [ + -5.86036867389339e-06, + 9.504969966656063e-08, + -1.314932205787045e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.651961326599121, + 0.9748039245605469, + 0.8999999761581421 + ], + "ori": [ + 0.5009517669677734, + 7.693282810805613e-08, + -1.0136903938473552e-07, + 0.8654752373695374 + ], + "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": [ + 1.7855095180152603e-10, + -1.9766560610534611e-10, + 0.0 + ], + "angular_velocity": [ + 5.115275314437895e-09, + 2.777741237025566e-08, + 3.736668752196692e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -0.023164749145507812, + 0.45029258728027344, + 0.9179999828338623 + ], + "ori": [ + 0.9990853071212769, + 6.39737818275421e-10, + 1.4008888493677318e-09, + -0.042761918157339096 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4042360163557532e-08, + 3.5553180399716666e-09, + 1.341104507446289e-07 + ], + "angular_velocity": [ + 4.2233676822434063e-07, + -1.8090939875037293e-06, + -2.1534741989626127e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.010250091552734375, + 1.154428482055664, + 0.9180000424385071 + ], + "ori": [ + -0.02892378903925419, + 4.1934718808533944e-08, + 5.263662394838775e-09, + 0.9995816349983215 + ], + "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": [ + 6.814141073618885e-08, + 8.536846252127361e-08, + -5.19677996635437e-06 + ], + "angular_velocity": [ + -1.9065421383857029e-06, + 4.463221102923853e-06, + -1.0843295683571341e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.0061044692993164, + 1.1472949981689453, + 0.9180000424385071 + ], + "ori": [ + 0.04908958449959755, + 4.448522616939954e-08, + -8.024334192668903e-07, + 0.9987943768501282 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.863434358208906e-06, + 8.219878509407863e-06, + -8.694827556610107e-06 + ], + "angular_velocity": [ + 0.00011017448559869081, + 1.1211068340344355e-07, + -9.161297202808782e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.6611433029174805, + 0.9767465591430664, + 0.9179999828338623 + ], + "ori": [ + 0.5192749500274658, + 7.602060492217788e-08, + -1.068705657303326e-07, + 0.8546072840690613 + ], + "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": [ + 4.676595466435174e-08, + -1.0890257584605934e-07, + -1.3969838619232178e-06 + ], + "angular_velocity": [ + 1.7371016838296782e-06, + 1.9377380340301897e-06, + 1.7670024021754216e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 4.979999999999916, + "step": 996, + "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": 3.3641637652709333e-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": 0.22111961216322235, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 926, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.16780605912208557, + 3.635883331298828e-06, + 0.0 + ], + "carrier_2": [ + -0.1296629011631012, + 0.7000053524971008, + 0.0 + ], + "carrier_3": [ + -1.1458276808261871, + 0.7000883221626282, + 0.0 + ], + "carrier_4": [ + 1.5019613206386566, + 0.5248039364814758, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.19028460904039723, + 0.5222936738942385, + 2.931009916651897 + ], + "ori": [ + 7.155970405552242, + 7.058491953019942, + -6.047191582808111 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5161.053932889608, + "color": [ + 0.9692880286243588, + 0.8600479102320328, + 0.9153799113087422 + ], + "intensity": 12048.900547447109, + "width": 1.5383678119755912, + "height": 1.5067810906262362 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.3063800069909848, + 0.04275967230268152, + 2.74055730422653 + ], + "ori": [ + 13.039914114958421, + 18.933985031353977, + -18.14916317916296 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4939.342271000245, + "color": [ + 0.8949038460359771, + 0.9502793119274002, + 0.9299889560641369 + ], + "intensity": 3671.5590395821855, + "radius": 0.3733722671269172 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1494.4946316170299, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141025543212891, + -1.719397783279419, + 2.0904994010925293, + -1.9419012069702148, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.1182067394256592, + -1.229070782661438, + 2.167325496673584, + -2.509066343307495, + -1.570785403251648, + 2.509904146194458, + 0.007606382016092539, + 0.007004035171121359 + ], + [ + 0.9141020774841309, + -1.7193984985351562, + 2.0904996395111084, + -1.9419007301330566, + -1.5707999467849731, + 2.48490047454834, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141013622283936, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -2.442258073222979e-38, + 2.97718246224232e-38, + 2.7947636702340584e-38, + 4.5719288343206525e-37, + -5.715706756220798e-37, + -7.685524002637048e-38, + 2.5990400942532688e-08, + -2.5990388508034812e-08 + ], + [ + -0.00018395863298792392, + -2.56254479609197e-05, + -2.669115383469034e-05, + -0.00037311422056518495, + 0.00012922861787956208, + 0.00022370157239492983, + -0.007850159890949726, + 0.0002737817703746259 + ], + [ + 3.4059653444273863e-06, + 1.6450187566297014e-12, + 1.613451343016048e-12, + -3.405976030990132e-06, + -3.4059778499795357e-06, + 8.189220785867479e-13, + 1.9565497496893541e-13, + 6.602688231230336e-14 + ], + [ + -2.527969334572485e-38, + 1.5499014020516852e-38, + 3.8572760902926146e-38, + 5.210929902362941e-37, + -4.883688819832621e-38, + 4.337454158544144e-37, + 2.5990399166175848e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04810101538896561, + -0.003419076558202505, + -0.026253651827573776, + -0.2838800549507141, + 0.6428207755088806, + 0.6522453427314758, + -0.2841998338699341 + ], + [ + 0.04823721945285797, + 0.0027994837146252394, + -0.028989233076572418, + -0.2779473662376404, + 0.6559982895851135, + 0.636001706123352, + -0.29650184512138367 + ], + [ + 0.04914264380931854, + -0.00325898639857769, + -0.0287299957126379, + -0.28363820910453796, + 0.6458051204681396, + 0.6547859311103821, + -0.27155208587646484 + ], + [ + 0.05162264406681061, + 0.0022206478752195835, + -0.0328938290476799, + -0.28738632798194885, + 0.6489758491516113, + 0.6474826335906982, + -0.27749890089035034 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e001/wrist.mp4 b/episodes/c6_p001_e001/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..33786acc4a38f853e121e8e5e88b7fd7f79c58ff --- /dev/null +++ b/episodes/c6_p001_e001/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38d67c8f26892382ed62744f68c8f9cf5901d2e928510b16607b760daed22b4c +size 7098361 diff --git a/episodes/c6_p001_e002/data.npz b/episodes/c6_p001_e002/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..92ebf0354dda6cf8c2b8e720043630b3a6904b0c --- /dev/null +++ b/episodes/c6_p001_e002/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5356599594d31612305b53952edd184cd7602ca96cb4dbcd636713423e0b15cc +size 207173 diff --git a/episodes/c6_p001_e002/device_events.jsonl b/episodes/c6_p001_e002/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..134b91ca0d2247bcf76a13d0678d5f98f29bdad0 --- /dev/null +++ b/episodes/c6_p001_e002/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 131, "t": 0.655, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 131, "t": 0.655, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 136, "t": 0.68, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 977, "t": 4.885, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6071, "t": 30.355, "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": 6684, "t": 33.42, "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": 6684, "t": 33.42, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.368370256684868}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 6684, "t": 33.42, "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": 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": 1, "seq": 10, "step": 6684, "t": 33.42, "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": 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": 1, "seq": 12, "step": 7103, "t": 35.515, "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": 7103, "t": 35.515, "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": 7103, "t": 35.515, "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": 7103, "t": 35.515, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7103, "t": 35.515, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 7103, "t": 35.515, "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": 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": 1, "seq": 19, "step": 7103, "t": 35.515, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.368370256684868}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 7977, "t": 39.885, "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": 7977, "t": 39.885, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.370000000002236}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7977, "t": 39.885, "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": 4.370000000002236}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 7977, "t": 39.885, "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": 7977, "t": 39.885, "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": 7977, "t": 39.885, "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": 8397, "t": 41.985, "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": 8397, "t": 41.985, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 8.813570012700112e-11}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8397, "t": 41.985, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 8.813570012700112e-11}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8397, "t": 41.985, "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": 8397, "t": 41.985, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 8397, "t": 41.985, "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": 8979, "t": 44.895, "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": 11244, "t": 56.22, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11244, "t": 56.22, "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": 11244, "t": 56.22, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 11244, "t": 56.22, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c6_p001_e002/env.mp4 b/episodes/c6_p001_e002/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..135b17b8d4db474e8efc8775bfe45d4bb7888735 --- /dev/null +++ b/episodes/c6_p001_e002/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ad1d4e1011b90e6c9d79b6a01f74675bc9d02cbfb3f1d587342b8785be3e541 +size 1331011 diff --git a/episodes/c6_p001_e002/meta.json b/episodes/c6_p001_e002/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3f8171edc194bd1c3b1796e4933fd4b477a221f0 --- /dev/null +++ b/episodes/c6_p001_e002/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/2", + "fps": 25, + "frames": 1345, + "kept_ticks": "even", + "video_frames": { + "wrist": 1345, + "env": 1345 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e002/scene_snapshot.json b/episodes/c6_p001_e002/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..ca291a2d89fcea82901bdeedb108bf5bf59201d0 --- /dev/null +++ b/episodes/c6_p001_e002/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 2, + "env_id": 1, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_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": [ + 0.46108436584472656, + 0.05295372009277344, + 0.8999999761581421 + ], + "ori": [ + 0.7118666768074036, + 0.0, + 0.0, + -0.7023146152496338 + ], + "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": [ + 4.7098284473856555e-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": 0.15651012456045216, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.18765041340645625, + "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": 0.15651012456045216, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.327073097229004, + 0.4500875473022461, + 0.8999999761581421 + ], + "ori": [ + 0.9999983310699463, + 3.800716186219688e-09, + -1.4128562497717212e-07, + 0.0018468544585630298 + ], + "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": [ + -3.119329683443084e-09, + -6.627053572572095e-09, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 1.4887007182551315e-07, + -1.7029620380526467e-07, + 1.8006829805017333e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.037799835205078125, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 6.0653931654997e-08, + -1.290262474640258e-07, + 2.7453357688500546e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.523439318087185e-08, + 4.185326361039188e-07, + 5.21540641784668e-08 + ], + "angular_velocity": [ + -9.394620064995252e-06, + -1.435037120245397e-07, + -2.8061722332495265e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.17082977294921875, + 1.1500024795532227, + 0.8999999761581421 + ], + "ori": [ + 1.9385772247915156e-05, + 1.3976904966739312e-08, + 4.268077891111943e-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": [ + -9.146406965143683e-10, + -1.1510707942363751e-09, + 0.0 + ], + "angular_velocity": [ + 2.3218984068762438e-08, + -7.30522060621297e-08, + -2.3116804470646457e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.295414924621582, + 1.0457277297973633, + 0.8999999761581421 + ], + "ori": [ + -0.38280537724494934, + -9.090425834301641e-08, + -4.6194450931125175e-08, + 0.9238289594650269 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.857902661889682e-10, + -1.2025587192709963e-09, + 0.0 + ], + "angular_velocity": [ + 1.248086221039557e-07, + -2.940257459727036e-08, + -1.3020962974508166e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 1.3180866241455078, + 0.45447540283203125, + 0.9179999828338623 + ], + "ori": [ + 0.9967617988586426, + -1.060681853459755e-08, + -1.3926424458077236e-07, + 0.08041156828403473 + ], + "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": [ + -9.231883524307705e-08, + -1.5996978675048013e-07, + 3.3527612686157227e-08 + ], + "angular_velocity": [ + 1.839155856941943e-06, + -2.009970785366022e-06, + 3.250068232318881e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -0.05036354064941406, + 0.4596138000488281, + 0.9180000424385071 + ], + "ori": [ + 0.995991587638855, + 4.939007567372755e-07, + -1.0204821876413916e-07, + 0.08944688737392426 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.2087468753161374e-06, + 3.0614223760494497e-06, + -3.5390257835388184e-07 + ], + "angular_velocity": [ + -8.040174725465477e-05, + -1.5853758668527007e-05, + 3.374212246853858e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.1728200912475586, + 1.1514549255371094, + 0.9179999828338623 + ], + "ori": [ + -0.048690780997276306, + 1.4972778572541756e-08, + 3.477942156493441e-09, + 0.9988138675689697 + ], + "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": [ + 1.710030783641514e-09, + -1.2742828126022232e-08, + -5.5246055126190186e-06 + ], + "angular_velocity": [ + -5.33783065748139e-07, + 1.619991053303238e-06, + -2.9504702681037998e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.3032712936401367, + 1.0518579483032227, + 0.9179999828338623 + ], + "ori": [ + -0.4710618555545807, + -9.677499690496916e-08, + -3.640815293692867e-08, + 0.8821001648902893 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.344564897782675e-08, + 2.0854081128618418e-08, + 1.7136335372924805e-07 + ], + "angular_velocity": [ + -1.8623557025421178e-06, + 1.472491021559108e-06, + -1.1879545525061985e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 2.6999999999999647, + "step": 540, + "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": 4.7098284473856555e-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": 0.15651012456045216, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 408, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.1770730912685394, + 8.755922317504883e-05, + 0.0 + ], + "carrier_2": [ + -0.1877998411655426, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_3": [ + 0.020829766988754272, + 0.7000024914741516, + 0.0 + ], + "carrier_4": [ + -1.4454149305820465, + 0.5957277417182922, + 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": [ + 0.16680352982859847, + 0.5487508816711995, + 2.977977126173049 + ], + "ori": [ + 13.087903118375706, + -5.253001078367669, + -1.363675479667883 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5770.761552889262, + "color": [ + 0.8814416131063858, + 0.8001374285608716, + 0.8539469690835253 + ], + "intensity": 14310.119702225475, + "width": 1.8954377403579743, + "height": 1.6113735383969807 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.8991029780727494, + -0.5259012654669551, + 2.4775473333655844 + ], + "ori": [ + -38.642941492230285, + 2.6121463983574884, + -39.48728599354168 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6564.522436264947, + "color": [ + 0.9237620497904501, + 0.7875201084203207, + 0.8737446693808378 + ], + "intensity": 7116.2182223649625, + "radius": 0.15895260418487592 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1494.4946316170299, + "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": [ + [ + 0.046063877642154694, + 0.00019207334844395518, + -0.028823040425777435, + -0.27847540378570557, + 0.6436033844947815, + 0.6548102498054504, + -0.2818681597709656 + ], + [ + 0.04990207403898239, + -0.0018060083966702223, + -0.028399810194969177, + -0.27562594413757324, + 0.6545276045799255, + 0.6406217217445374, + -0.2919379472732544 + ], + [ + 0.04836857318878174, + -0.0024548321962356567, + -0.026858417317271233, + -0.2811764180660248, + 0.6471044421195984, + 0.6539369821548462, + -0.27306056022644043 + ], + [ + 0.049992453306913376, + 0.0012393713695928454, + -0.03276313096284866, + -0.2886548936367035, + 0.6459329128265381, + 0.6440324783325195, + -0.290983110666275 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e002/wrist.mp4 b/episodes/c6_p001_e002/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8473b30a142c45bc01e2b612e10a8bead6cd61ac --- /dev/null +++ b/episodes/c6_p001_e002/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72aab400c7cfa2c70eb6bf03a88c36eb078784cc327cc32261106b573269b548 +size 7587495 diff --git a/episodes/c6_p001_e003/data.npz b/episodes/c6_p001_e003/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..f032501743b1f4bcc09ae9c6a65ec734b5dba19a --- /dev/null +++ b/episodes/c6_p001_e003/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:233714efd8847ab0efcb5d8e2f67b3c28a681877920b87905775063893a01cf4 +size 206187 diff --git a/episodes/c6_p001_e003/device_events.jsonl b/episodes/c6_p001_e003/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0dfd2fb762142c56105d104f2492989fa8873f8b --- /dev/null +++ b/episodes/c6_p001_e003/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 168, "t": 0.84, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 168, "t": 0.84, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 173, "t": 0.865, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6942, "t": 34.71, "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": 7556, "t": 37.78, "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": 7556, "t": 37.78, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.2087616879258243}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7556, "t": 37.78, "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": 7556, "t": 37.78, "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": 7556, "t": 37.78, "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": 7975, "t": 39.875, "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": 7975, "t": 39.875, "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": 7975, "t": 39.875, "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": 7975, "t": 39.875, "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": 7975, "t": 39.875, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7975, "t": 39.875, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7975, "t": 39.875, "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": 7975, "t": 39.875, "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": 7975, "t": 39.875, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.2087616879258243}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 8617, "t": 43.085, "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": 8617, "t": 43.085, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.210000000001642}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8617, "t": 43.085, "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": 3.210000000001642}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8617, "t": 43.085, "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": 23, "step": 8617, "t": 43.085, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 24, "step": 8617, "t": 43.085, "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": 25, "step": 9037, "t": 45.185, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 26, "step": 9037, "t": 45.185, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.123940910982782e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 9037, "t": 45.185, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.123940910982782e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 9037, "t": 45.185, "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": 29, "step": 9037, "t": 45.185, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 9037, "t": 45.185, "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": 31, "step": 9619, "t": 48.095, "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": 11892, "t": 59.46, "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": 11892, "t": 59.46, "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": 11892, "t": 59.46, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 11892, "t": 59.46, "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_p001_e003/env.mp4 b/episodes/c6_p001_e003/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..85e7ab75acae08ce59375cc8caea1678ab5b5963 --- /dev/null +++ b/episodes/c6_p001_e003/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b9ff4175dced79c68cca637e387b7ebf48550be7bd504cca5cb99728bf8a68e +size 1418028 diff --git a/episodes/c6_p001_e003/meta.json b/episodes/c6_p001_e003/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e8c0aacef8f39c9762fdf7c7e3987c0bef0c916b --- /dev/null +++ b/episodes/c6_p001_e003/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/3", + "fps": 25, + "frames": 1294, + "kept_ticks": "even", + "video_frames": { + "wrist": 1294, + "env": 1294 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e003/scene_snapshot.json b/episodes/c6_p001_e003/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..36117a340fde2f7de469428a4b59560ff9469966 --- /dev/null +++ b/episodes/c6_p001_e003/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 3, + "env_id": 0, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5073986053466797, + 0.06928730010986328, + 0.8999999761581421 + ], + "ori": [ + -0.6957700252532959, + 0.0, + 0.0, + 0.718264639377594 + ], + "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": 0.246165024636186, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.17324193474818375, + "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": 0.246165024636186, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3594331741333008, + 1.1525812149047852, + 0.8999999761581421 + ], + "ori": [ + -0.01096217893064022, + 6.3945888584271415e-09, + 7.565065018866335e-09, + 0.9999399781227112 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3456744607509563e-09, + -1.4248735524802214e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 4.0636010112393706e-09, + -1.2814396654903248e-07, + -6.058028745314914e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.022902488708496094, + 0.44742298126220703, + 0.8999999761581421 + ], + "ori": [ + 0.9999473690986633, + -1.7246015726612995e-09, + -5.957512816401334e-10, + 0.010259750299155712 + ], + "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": [ + -5.486029408530158e-10, + 4.676706799600083e-10, + 0.0 + ], + "angular_velocity": [ + -8.847101895526066e-08, + -6.293109322541568e-08, + -1.1785349585125005e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3968000411987305, + 0.8220481872558594, + 0.8999999761581421 + ], + "ori": [ + -0.6811841130256653, + 9.547686197208805e-09, + -3.0053302069177334e-09, + 0.7321122288703918 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.501955032041536e-10, + 7.735062590441544e-11, + 0.0 + ], + "angular_velocity": [ + -5.513391965195069e-09, + -9.933623701385841e-09, + -3.0972886477798056e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6348390579223633, + 0.6017045974731445, + 0.8999999761581421 + ], + "ori": [ + 0.8895995020866394, + -4.693033073266406e-09, + -7.890605502325343e-09, + 0.45674148201942444 + ], + "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": [ + 2.2521540188336076e-11, + -3.5643277218611047e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 3.689218885938317e-08, + -3.051405172982413e-08, + 6.323025658616643e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.3684415817260742, + 1.1495428085327148, + 0.9179999828338623 + ], + "ori": [ + 0.033645447343587875, + 5.2502944214438685e-09, + 8.96442386988383e-09, + 0.9994338750839233 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2430223073067737e-08, + 7.2728223443618845e-09, + 1.7136335372924805e-07 + ], + "angular_velocity": [ + -9.321788070337789e-07, + 2.069357151412987e-06, + -5.427648019917797e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -0.03192138671875, + 0.44896411895751953, + 0.9180000424385071 + ], + "ori": [ + 0.9982650876045227, + -3.614648358407635e-09, + -6.5600125331855e-10, + 0.05888013541698456 + ], + "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": [ + -1.4306497320148992e-08, + 7.779848765210318e-09, + -5.424022674560547e-06 + ], + "angular_velocity": [ + 3.141356330615963e-07, + -1.1528062486831914e-06, + 8.065399015322328e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.3857307434082031, + 0.8095169067382812, + 0.9180000424385071 + ], + "ori": [ + -0.6357948184013367, + 9.89062165501764e-09, + -1.7750738656729936e-09, + 0.7718581557273865 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.580316901429796e-09, + 2.527733222734696e-08, + -5.684792995452881e-06 + ], + "angular_velocity": [ + -1.9165242974850116e-06, + -5.634504418594588e-07, + 1.0690158092074853e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.6245508193969727, + 0.5935344696044922, + 0.9179999828338623 + ], + "ori": [ + 0.856783390045166, + -4.130583874939475e-09, + -6.1092402248164035e-09, + 0.5156764984130859 + ], + "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": [ + 1.9636306802794934e-08, + -7.270687518712293e-08, + -1.4044344425201416e-06 + ], + "angular_velocity": [ + 3.3673295547487214e-06, + 1.1143647498101927e-06, + 7.633516929672624e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 7.879999999999854, + "step": 1576, + "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": 0.246165024636186, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1407, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.2094331681728363, + 0.7025812268257141, + 0.0 + ], + "carrier_2": [ + -0.17290249466896057, + -0.0025770068168640137, + 0.0 + ], + "carrier_3": [ + -1.546800047159195, + 0.37204819917678833, + 0.0 + ], + "carrier_4": [ + 1.4848390519618988, + 0.1517046093940735, + 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": [ + 0.2133183187175186, + -0.025474140785033905, + 3.115422562004403 + ], + "ori": [ + -0.9280511078495, + 3.2459135943679627, + 24.15861928989927 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3233.920873599702, + "color": [ + 0.9795352637721846, + 0.9055055672960094, + 0.8788420493488533 + ], + "intensity": 11661.25907142225, + "width": 2.56257576107701, + "height": 1.1738816997073696 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.5231666769712016, + -0.5052628416160483, + 2.170445541497147 + ], + "ori": [ + 7.719155859916505, + -10.575252500484787, + 14.984664901105532 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4825.891749705469, + "color": [ + 0.8442498494344022, + 0.9358619888893314, + 0.9663961036913107 + ], + "intensity": 6983.437428820737, + "radius": 0.20462806988628174 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1494.4946316170299, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141119122505188, + -1.7193934917449951, + 2.0904970169067383, + -1.9419018030166626, + -1.5707999467849731, + 2.4849064350128174, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.1181962490081787, + -1.4567766189575195, + 2.0465986728668213, + -2.1606035232543945, + -1.5707999467849731, + 2.50986385345459, + 0.00763148907572031, + 0.006998590659350157 + ], + [ + 1.2377419471740723, + -1.2627681493759155, + 2.2210404872894287, + -2.5290489196777344, + -1.570807933807373, + 2.617504358291626, + 0.007648495491594076, + 0.007003816310316324 + ], + [ + 1.0130603313446045, + -1.298010230064392, + 2.2755236625671387, + -2.5483694076538086, + -1.570765495300293, + 2.669543504714966, + 0.0076188212260603905, + 0.007064070086926222 + ] + ], + "joint_vel": [ + [ + 2.4431411715151965e-38, + 0.0, + 0.0, + -5.575588120176031e-37, + 3.763895746655613e-37, + 1.8651843079549045e-37, + 2.7494316649131506e-38, + -1.1178709400994624e-37 + ], + [ + 0.0001195260338135995, + 1.1546867426659446e-05, + -0.00032011166331358254, + -0.00022351994994096458, + 0.00044638459803536534, + 0.0014122565044090152, + -0.008155873976647854, + 0.00021723225654568523 + ], + [ + -4.45275436504744e-05, + 3.292506153229624e-05, + -0.00020784536900464445, + -0.0009324029670096934, + 0.000768190948292613, + 0.0035058953799307346, + -0.008431760594248772, + 0.0002852932666428387 + ], + [ + -0.00021009703050367534, + -5.207867798162624e-05, + 6.952238618396223e-05, + 0.00022654297936242074, + -0.0003407892363611609, + -0.0017978764371946454, + -0.007098126225173473, + 0.0002180827286792919 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04707401990890503, + -0.00014814164023846388, + -0.029072031378746033, + -0.2792651355266571, + 0.6435624361038208, + 0.6542815566062927, + -0.2824074625968933 + ], + [ + 0.04858412966132164, + 0.0016433921409770846, + -0.029934560880064964, + -0.28024595975875854, + 0.6510140299797058, + 0.6397446393966675, + -0.29727035760879517 + ], + [ + 0.049154799431562424, + -0.0006859462009742856, + -0.028665825724601746, + -0.2905195355415344, + 0.6449124813079834, + 0.6523659229278564, + -0.2722223103046417 + ], + [ + 0.05239617079496384, + 0.0019357309211045504, + -0.033112410455942154, + -0.2843031585216522, + 0.6479721665382385, + 0.6450693011283875, + -0.2884257137775421 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e003/wrist.mp4 b/episodes/c6_p001_e003/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1c8c19ac7bf966700215b6a9dea480555269aeb5 --- /dev/null +++ b/episodes/c6_p001_e003/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b59bd4edefa651b4f342ff61f27896da4c690c8936c1664a5710b4028b08e75 +size 7759204 diff --git a/episodes/c6_p001_e004/data.npz b/episodes/c6_p001_e004/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..309fa4ce5d5bcf3d55f39f411de8ef1aa405b2fb --- /dev/null +++ b/episodes/c6_p001_e004/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65ef2eaad5a404aff690687684c8e6728c65b3a18287da7cf0f535ab56e09967 +size 200971 diff --git a/episodes/c6_p001_e004/device_events.jsonl b/episodes/c6_p001_e004/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..22c55358f3495202d01ea08e9ec2dfc963c7e30d --- /dev/null +++ b/episodes/c6_p001_e004/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 91, "t": 0.455, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 91, "t": 0.455, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 96, "t": 0.48, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 5770, "t": 28.85, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6380, "t": 31.9, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 6380, "t": 31.9, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.2208820173020465}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6380, "t": 31.9, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 6380, "t": 31.9, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6380, "t": 31.9, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 6799, "t": 33.995, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 6799, "t": 33.995, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 6799, "t": 33.995, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 6799, "t": 33.995, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 6799, "t": 33.995, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 6799, "t": 33.995, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 6799, "t": 33.995, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 6799, "t": 33.995, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 6799, "t": 33.995, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.2208820173020465}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7244, "t": 36.22, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7244, "t": 36.22, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.2250000000011383}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7244, "t": 36.22, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.2250000000011383}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7244, "t": 36.22, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 7244, "t": 36.22, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7244, "t": 36.22, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 7664, "t": 38.32, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 7664, "t": 38.32, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.4776655454795673e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 7664, "t": 38.32, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.4776655454795673e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 7664, "t": 38.32, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 7664, "t": 38.32, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 7664, "t": 38.32, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8243, "t": 41.215, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 10500, "t": 52.5, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 10500, "t": 52.5, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10500, "t": 52.5, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 10500, "t": 52.5, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c6_p001_e004/env.mp4 b/episodes/c6_p001_e004/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..df69d87307036923e84bf08b0f952ec28ed2c78c --- /dev/null +++ b/episodes/c6_p001_e004/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6bf1b5d190777b1d6c9375b851603ddd5b5b52e1c2c3578e807bc3f05ca04f3 +size 1300177 diff --git a/episodes/c6_p001_e004/meta.json b/episodes/c6_p001_e004/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..25a18340a63b05567cb8acb2783e18f15fb20b59 --- /dev/null +++ b/episodes/c6_p001_e004/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/4", + "fps": 25, + "frames": 1279, + "kept_ticks": "even", + "video_frames": { + "wrist": 1279, + "env": 1279 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e004/scene_snapshot.json b/episodes/c6_p001_e004/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..1b69bb04161e78d9d79d9e1d07c262e2fb04c03d --- /dev/null +++ b/episodes/c6_p001_e004/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 4, + "env_id": 3, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.47048377990722656, + 0.05947589874267578, + 0.8999999761581421 + ], + "ori": [ + -0.6987550854682922, + 0.0, + 0.0, + 0.7153609991073608 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.728334794696422e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2411036382221401, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.14901177469625934, + "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": 0.2411036382221401, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3319368362426758, + 0.5949134826660156, + 0.8999999761581421 + ], + "ori": [ + -0.8895888924598694, + 6.961293319562856e-09, + 3.322575992115162e-09, + 0.4567621946334839 + ], + "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": [ + -3.854691565940982e-10, + -3.287740635293801e-10, + 0.0 + ], + "angular_velocity": [ + 2.765520790148912e-08, + -2.5204572651205126e-08, + 1.1435843383367228e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.0014944076538085938, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.5254301700149426e-09, + 3.541881676838443e-09, + 4.35094116255641e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.5490932415171983e-10, + 1.4942649340099479e-09, + 0.0 + ], + "angular_velocity": [ + -1.4911594803379558e-07, + 1.3059565873163592e-08, + -6.692720155854204e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6230411529541016, + 0.5859336853027344, + 0.8999999761581421 + ], + "ori": [ + 0.9024108052253723, + 6.058155088695116e-10, + 2.7243936884246978e-08, + 0.430876761674881 + ], + "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": [ + -5.943806558050824e-11, + -1.1246253928121064e-10, + 0.0 + ], + "angular_velocity": [ + 7.816851166353445e-09, + -2.9369502385634405e-09, + -3.50272033600163e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6932497024536133, + 1.1527318954467773, + 0.8999999761581421 + ], + "ori": [ + -0.00908106192946434, + -7.020351855402396e-09, + 6.2411245060900455e-09, + 0.9999587535858154 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.015132836267867e-10, + 3.146574667489688e-11, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 4.3365044888332704e-08, + 6.006655439705355e-08, + -1.1330037352763611e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -1.332972526550293, + 0.6036510467529297, + 0.9179999828338623 + ], + "ori": [ + -0.923180878162384, + 8.54929638194335e-09, + 5.4086277678777606e-09, + 0.38436582684516907 + ], + "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": [ + -1.9207668344733975e-08, + 1.6138828939915584e-08, + 4.842877388000488e-08 + ], + "angular_velocity": [ + -1.6539051728159393e-07, + -1.4470360838458873e-06, + 1.0546349926698895e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.008161544799804688, + 0.45970726013183594, + 0.9180000424385071 + ], + "ori": [ + 0.9974621534347534, + 2.310571733943334e-09, + 4.120769059312579e-09, + 0.07119997590780258 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.850415642934422e-08, + -8.944885721007267e-09, + -5.576759576797485e-06 + ], + "angular_velocity": [ + 1.2468577779145562e-06, + -1.6543215224373853e-06, + 4.5200074794138345e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 1.6329259872436523, + 0.5924520492553711, + 0.9180000424385071 + ], + "ori": [ + 0.9000310897827148, + 2.9327833495074174e-09, + 2.8444643973557504e-08, + 0.43582573533058167 + ], + "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": [ + -1.3443834490090012e-08, + -1.2012117522886001e-08, + -5.62518835067749e-06 + ], + "angular_velocity": [ + 1.1325442983434186e-06, + -4.599259284532309e-07, + 4.2868578020716086e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.7002487182617188, + 1.1416997909545898, + 0.9179999828338623 + ], + "ori": [ + 0.0010186362778767943, + -7.15874559631402e-09, + 6.399866414597e-09, + 0.999999463558197 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.451126293744892e-08, + 7.859811290700236e-08, + -1.3522803783416748e-06 + ], + "angular_velocity": [ + -2.1978166842018254e-06, + 2.4900293738028267e-06, + 1.2087242851066549e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 1.5199999999999896, + "step": 304, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.728334794696422e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2411036382221401, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 212, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.4819368422031403, + 0.14491349458694458, + 0.0 + ], + "carrier_2": [ + -0.14850559830665588, + 2.682209014892578e-06, + 0.0 + ], + "carrier_3": [ + 1.473041146993637, + 0.13593369722366333, + 0.0 + ], + "carrier_4": [ + 0.5432496964931488, + 0.7027319073677063, + 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": [ + -0.35513341945091076, + 0.3400184130074714, + 2.8316515380139853 + ], + "ori": [ + -13.674776306082327, + 10.739025403699575, + -16.92136682305975 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4652.46061556198, + "color": [ + 0.8424108774566064, + 0.8870559454990221, + 0.9022695379575846 + ], + "intensity": 4649.7435541313225, + "width": 2.4864582726399487, + "height": 1.449406301102179 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.1140313822166275, + 0.9190127597837414, + 1.782193620373909 + ], + "ori": [ + -27.19844766123679, + -21.509807329960182, + 29.550704136205212 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3533.5827126701324, + "color": [ + 0.9205724728107788, + 0.8286018374330638, + 0.9704778938126708 + ], + "intensity": 5798.8807757695395, + "radius": 0.15696069097914364 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1494.4946316170299, + "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": [ + [ + 1.6364041566848755, + -1.274855136871338, + 2.2137458324432373, + -2.5102672576904297, + -1.5705630779266357, + 0.05007769167423248, + 0.007597760297358036, + 0.00698366342112422 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141024947166443, + -1.7193984985351562, + 2.090498685836792, + -1.9418998956680298, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.914100170135498, + -1.7193982601165771, + 2.0904998779296875, + -1.9419008493423462, + -1.5707999467849731, + 2.4848999977111816, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -4.980596713721752e-06, + 0.008891669102013111, + 0.0031640403904020786, + -0.011213235557079315, + -3.337557427585125e-05, + 0.00014424460823647678, + -0.007865828461945057, + 0.00027261595823802054 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 2.1757423156961134e-38, + -1.802991038732162e-38, + 0.0, + -7.171722674565062e-37, + 3.856431219422504e-37, + 6.940476142034849e-37, + 4.171477193781375e-38, + 2.813708664952344e-38 + ], + [ + 2.882488877736492e-38, + -1.6181449175239967e-38, + -2.606653644642788e-38, + -5.2449359408719125e-37, + 2.0540842735164843e-37, + -2.8989138894004133e-37, + 2.5990388508034812e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04823862388730049, + -0.0004777371941599995, + -0.02832876890897751, + -0.27971118688583374, + 0.6445682048797607, + 0.6532121300697327, + -0.28214776515960693 + ], + [ + 0.04786315932869911, + 0.0014453401090577245, + -0.030099153518676758, + -0.2735612392425537, + 0.6523061394691467, + 0.6443231701850891, + -0.29070359468460083 + ], + [ + 0.04592696949839592, + -0.001771725481376052, + -0.029814818874001503, + -0.28936728835105896, + 0.6441525816917419, + 0.6529224514961243, + -0.27390924096107483 + ], + [ + 0.05087132006883621, + 0.006130368448793888, + -0.03349205106496811, + -0.28633445501327515, + 0.6513997912406921, + 0.6439054608345032, + -0.2812057435512543 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e004/wrist.mp4 b/episodes/c6_p001_e004/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0a5835577dfd9a831a3d42b745bf6ba7e6b80703 --- /dev/null +++ b/episodes/c6_p001_e004/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0cc2bdfa56e8e09a39f0d41b274eedf0b531715b31dfdf792dc92490f82c7925 +size 7896672 diff --git a/episodes/c6_p001_e005/data.npz b/episodes/c6_p001_e005/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..07c503eaa76b90a4117220da84222fef86fa27f8 --- /dev/null +++ b/episodes/c6_p001_e005/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b4ca4a5956352a01337cda20838e20e8a4c4d0f3218fa3b7edcf8792321f209 +size 184123 diff --git a/episodes/c6_p001_e005/device_events.jsonl b/episodes/c6_p001_e005/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f0dd48853d882a53041cb8b45c4bd832a5c7985d --- /dev/null +++ b/episodes/c6_p001_e005/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 115, "t": 0.575, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 115, "t": 0.575, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 120, "t": 0.6, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 2157, "t": 10.785, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6495, "t": 32.475, "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": 7108, "t": 35.54, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7108, "t": 35.54, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.9170075634487747}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 7108, "t": 35.54, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 9, "step": 7108, "t": 35.54, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 10, "step": 7108, "t": 35.54, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 11, "step": 7527, "t": 37.635, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 7527, "t": 37.635, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7527, "t": 37.635, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7527, "t": 37.635, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 7527, "t": 37.635, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7527, "t": 37.635, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7527, "t": 37.635, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 18, "step": 7527, "t": 37.635, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 19, "step": 7527, "t": 37.635, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.9170075634487747}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 8111, "t": 40.555, "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": 8111, "t": 40.555, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.920000000001494}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8111, "t": 40.555, "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": 2.920000000001494}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 8111, "t": 40.555, "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": 8111, "t": 40.555, "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": 8111, "t": 40.555, "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": 8531, "t": 42.655, "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": 8531, "t": 42.655, "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": 8531, "t": 42.655, "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": 8531, "t": 42.655, "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": 8531, "t": 42.655, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8531, "t": 42.655, "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": 9111, "t": 45.555, "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": 10852, "t": 54.26, "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": 10852, "t": 54.26, "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": 10852, "t": 54.26, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10852, "t": 54.26, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c6_p001_e005/env.mp4 b/episodes/c6_p001_e005/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ec8c064a8b40a8799c8f3d4f119d6f8559bbcb46 --- /dev/null +++ b/episodes/c6_p001_e005/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8755c0c03d55f34d0dbb076122fce0d404bc425d95c7fcfedd42f3a6d476ed7c +size 1127918 diff --git a/episodes/c6_p001_e005/meta.json b/episodes/c6_p001_e005/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7cabfe64ffc2360d57c551e90be47611310afcca --- /dev/null +++ b/episodes/c6_p001_e005/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/5", + "fps": 25, + "frames": 1174, + "kept_ticks": "even", + "video_frames": { + "wrist": 1174, + "env": 1174 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e005/scene_snapshot.json b/episodes/c6_p001_e005/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..d983dda253b0e07f690f9578b8179af6f68734a5 --- /dev/null +++ b/episodes/c6_p001_e005/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 5, + "env_id": 2, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": [ + 0.5043811798095703, + 0.1029367446899414, + 0.8999999761581421 + ], + "ori": [ + -0.6904402375221252, + 0.0, + 0.0, + 0.7233894467353821 + ], + "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": [ + 2.018500384198818e-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": 0.2566460006249343, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2907438958906503, + "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": 0.2566460006249343, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.14061450958251953, + 0.4474620819091797, + 0.8999999761581421 + ], + "ori": [ + 0.9999542236328125, + 8.726814271220462e-10, + 3.897297484733997e-10, + 0.00956981536000967 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.306153046305326e-10, + 6.600843760473651e-10, + 0.0 + ], + "angular_velocity": [ + -4.152777677290942e-09, + 3.453799735098073e-08, + -5.479234399530242e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1438531875610352, + 1.1337089538574219, + 0.8999999761581421 + ], + "ori": [ + -0.1288301944732666, + -8.846789967265067e-08, + -3.906426471189661e-08, + 0.9916666746139526 + ], + "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": [ + 2.1594631638421902e-10, + -1.1228183660616509e-10, + 0.0 + ], + "angular_velocity": [ + 2.2192622850525368e-08, + 1.1479543537973314e-08, + -2.183509373310244e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.695784568786621, + 0.8367767333984375, + 0.8999999761581421 + ], + "ori": [ + 0.6759291887283325, + 9.901671660372813e-08, + -5.1746198437285784e-08, + 0.7369666695594788 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.580433892760084e-10, + -2.156639311579056e-10, + 0.0 + ], + "angular_velocity": [ + 1.1263182386755943e-08, + 3.6653091228799894e-08, + -2.0571064851537813e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6049041748046875, + 1.1524505615234375, + 0.8999999761581421 + ], + "ori": [ + -0.010546879842877388, + 7.583673689026682e-10, + 1.7172899768880256e-09, + 0.9999444484710693 + ], + "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": [ + -5.467166275252566e-09, + -2.7796560608805976e-09, + 4.0978193283081055e-08 + ], + "angular_velocity": [ + 1.8854488814668002e-07, + -5.355797156880726e-07, + -2.928288367343157e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -0.1399984359741211, + 0.44158172607421875, + 0.9179999828338623 + ], + "ori": [ + 0.9997786283493042, + 4.366210504258561e-09, + -2.820535194292262e-10, + -0.021043037995696068 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.616721594961291e-08, + 4.08871958512691e-09, + 7.450580596923828e-08 + ], + "angular_velocity": [ + -1.9289069541628123e-07, + -1.380008598061977e-06, + 1.0457000598762534e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.1322202682495117, + 1.1427183151245117, + 0.9180000424385071 + ], + "ori": [ + -0.10751591622829437, + -8.641784887686299e-08, + -4.125980979097221e-08, + 0.9942033290863037 + ], + "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": [ + 2.2944288247117584e-08, + 6.754987236234911e-09, + -5.315989255905151e-06 + ], + "angular_velocity": [ + -4.805459639101173e-07, + 1.305337264057016e-06, + 9.060148897788167e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.6973142623901367, + 0.8480014801025391, + 0.9180000424385071 + ], + "ori": [ + 0.650439441204071, + 9.777535581179109e-08, + -5.7641720729861845e-08, + 0.7595580816268921 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.145590868480213e-09, + -5.441961548058316e-08, + 1.564621925354004e-07 + ], + "angular_velocity": [ + 3.081840986851603e-06, + 1.0480061973794363e-06, + 2.478022338436858e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.5945549011230469, + 1.1480369567871094, + 0.9179999828338623 + ], + "ori": [ + 0.0929352343082428, + 1.1139796862735807e-09, + 2.3908114377135803e-10, + 0.9956722259521484 + ], + "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": [ + 5.779891765200773e-08, + 1.1918371178865073e-08, + -1.087784767150879e-06 + ], + "angular_velocity": [ + -1.0362876992076053e-06, + 3.300325033706031e-06, + -4.6853958934889306e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 7.479999999999863, + "step": 1496, + "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": 2.018500384198818e-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": 0.2566460006249343, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1380, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.290614515542984, + -0.0025379061698913574, + 0.0 + ], + "carrier_2": [ + -1.2938531935214996, + 0.6837089657783508, + 0.0 + ], + "carrier_3": [ + 1.5457845628261566, + 0.38677674531936646, + 0.0 + ], + "carrier_4": [ + 0.454904168844223, + 0.7024505734443665, + 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": [ + -0.3163918782700297, + -0.17214218733421022, + 2.7137601128139854 + ], + "ori": [ + -6.476463598992581, + 2.848012268706764, + -19.965152762792854 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4670.0739710491835, + "color": [ + 0.9134666432044838, + 0.9642066251860937, + 0.9323497926185493 + ], + "intensity": 15262.471309152803, + "width": 2.1231608553207155, + "height": 1.8534354065043699 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.3365176374280199, + -0.2982527444214672, + 2.0835622271845184 + ], + "ori": [ + 29.913683435704456, + -9.803901347642299, + 36.68139980345531 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4101.750472246023, + "color": [ + 0.9624339786335288, + 0.9727934491969528, + 0.9065762694732089 + ], + "intensity": 4868.702400947768, + "radius": 0.35513281193981994 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1276.2940711366452, + "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 + ], + [ + 0.9230108857154846, + -1.7137937545776367, + 2.092797040939331, + -1.9497904777526855, + -1.5707992315292358, + 2.495062828063965, + 0.01800047978758812, + 0.017999518662691116 + ], + [ + 0.9141027331352234, + -1.7193984985351562, + 2.090498685836792, + -1.9419001340866089, + -1.5707999467849731, + 2.4849002361297607, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.0048511028289795, + -1.4359493255615234, + 2.022406816482544, + -2.1572606563568115, + -1.5707685947418213, + 2.4332354068756104, + 0.007728727534413338, + 0.0071206348948180676 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.010070564225316048, + 0.006455128081142902, + 0.002726000966504216, + -0.008764383383095264, + 1.9970677385572344e-05, + 0.011310003697872162, + 1.76162866409868e-05, + -1.761533167154994e-05 + ], + [ + -2.2330191292567724e-38, + 2.912142595319148e-38, + 2.769575050078127e-38, + 4.22868111179592e-37, + -6.240040355654526e-37, + -8.311628080133076e-38, + 2.5990399166175848e-08, + -2.599039206074849e-08 + ], + [ + 0.00013606229913420975, + -1.5682015146012418e-05, + -9.42443439271301e-05, + 0.00044060556683689356, + -0.0003967465308960527, + -0.001403097645379603, + -0.007497780956327915, + 0.0003365149023011327 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04767029732465744, + -0.0017228411743417382, + -0.028690727427601814, + -0.2799539864063263, + 0.64484041929245, + 0.6530733108520508, + -0.2816057801246643 + ], + [ + 0.050866685807704926, + 0.0008370923460461199, + -0.028373319655656815, + -0.277270644903183, + 0.6516947150230408, + 0.6402043104171753, + -0.29757922887802124 + ], + [ + 0.04762899503111839, + -0.0026449679862707853, + -0.028039349243044853, + -0.2854110598564148, + 0.6473520398139954, + 0.6511792540550232, + -0.27466607093811035 + ], + [ + 0.050972845405340195, + 0.007370610721409321, + -0.03227221965789795, + -0.2821296453475952, + 0.6496814489364624, + 0.6467731595039368, + -0.2828451097011566 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e005/wrist.mp4 b/episodes/c6_p001_e005/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3326da08c0b46e8c0d65f0981ea10e2cfaabaa9f --- /dev/null +++ b/episodes/c6_p001_e005/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f47657690214b499787d3c7dfb478030a48e2f771eae0f004022cf80c42ac91 +size 6876400 diff --git a/episodes/c6_p001_e006/data.npz b/episodes/c6_p001_e006/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5e2ec3f300c2879c52b3f245003d3a2c0ab35713 --- /dev/null +++ b/episodes/c6_p001_e006/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:043c11095630697c4aeafd76a6cee55558392ee9439e6bcfe375496247ebeb5c +size 188056 diff --git a/episodes/c6_p001_e006/device_events.jsonl b/episodes/c6_p001_e006/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..820a893f03c16e1874df4328b6b4bda531d0376a --- /dev/null +++ b/episodes/c6_p001_e006/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 50, "t": 0.25, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 50, "t": 0.25, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 55, "t": 0.275, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1550, "t": 7.75, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6426, "t": 32.13, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 7036, "t": 35.18, "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": 7036, "t": 35.18, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.782135882472996}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 7036, "t": 35.18, "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": 7036, "t": 35.18, "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": 7036, "t": 35.18, "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": 7455, "t": 37.275, "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": 7455, "t": 37.275, "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": 7455, "t": 37.275, "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": 7455, "t": 37.275, "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": 7455, "t": 37.275, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7455, "t": 37.275, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 7455, "t": 37.275, "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": 7455, "t": 37.275, "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": 7455, "t": 37.275, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.782135882472996}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 7812, "t": 39.06, "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": 7812, "t": 39.06, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.7850000000009132}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7812, "t": 39.06, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.7850000000009132}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 7812, "t": 39.06, "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": 7812, "t": 39.06, "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": 7812, "t": 39.06, "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": 8232, "t": 41.16, "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": 8232, "t": 41.16, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.5045334977870084e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8232, "t": 41.16, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.5045334977870084e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8232, "t": 41.16, "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": 8232, "t": 41.16, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 8232, "t": 41.16, "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": 8811, "t": 44.055, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 33, "step": 10580, "t": 52.9, "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": 10580, "t": 52.9, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 10580, "t": 52.9, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 10580, "t": 52.9, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c6_p001_e006/env.mp4 b/episodes/c6_p001_e006/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a0821d968e7e42b47c3400a3c27f2d008ccc81fc --- /dev/null +++ b/episodes/c6_p001_e006/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1bcab6bfe2f04ad6c56f90e5a26ceffedd41aedda54d4d0370dd2cdfc6152c62 +size 1237647 diff --git a/episodes/c6_p001_e006/meta.json b/episodes/c6_p001_e006/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7619220a95de78ea09b1f2b750a180ddaaa025b9 --- /dev/null +++ b/episodes/c6_p001_e006/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/6", + "fps": 25, + "frames": 1186, + "kept_ticks": "even", + "video_frames": { + "wrist": 1186, + "env": 1186 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e006/scene_snapshot.json b/episodes/c6_p001_e006/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..65bc78afb1ac53125efcf38bb51610fdf53690f3 --- /dev/null +++ b/episodes/c6_p001_e006/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 6, + "env_id": 1, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_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": [ + 0.46108436584472656, + 0.05295372009277344, + 0.8999999761581421 + ], + "ori": [ + 0.7118666768074036, + 0.0, + 0.0, + -0.7023146152496338 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.728330999988819e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.28919758668352813, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2396531646196296, + "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": 0.28919758668352813, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0685977935791016, + 1.1474170684814453, + 0.8999999761581421 + ], + "ori": [ + -0.02436823956668377, + -6.658326157094052e-08, + 9.306923232088593e-08, + 0.9997031688690186 + ], + "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": [ + -7.273254709616594e-07, + 2.440409474502303e-08, + -4.235655069351196e-06 + ], + "angular_velocity": [ + -5.402755050454289e-06, + -6.199917697813362e-05, + -2.000561067916351e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.06088829040527344, + 1.1500015258789062, + 0.8999999761581421 + ], + "ori": [ + 1.1568811714823823e-05, + 3.323770148000449e-09, + 1.7245929129217075e-08, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1106083164236225e-08, + -2.7117533107912095e-08, + -7.450580596923828e-09 + ], + "angular_velocity": [ + 4.5010788198851515e-06, + -6.120982902757532e-07, + -6.25492873496114e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6846990585327148, + 0.8963851928710938, + 0.9000002145767212 + ], + "ori": [ + 0.5964674949645996, + -2.1232424387562787e-06, + -3.844905222649686e-06, + 0.8026372194290161 + ], + "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": [ + 1.6932002836256288e-05, + 6.122405011410592e-06, + -4.48860228061676e-05 + ], + "angular_velocity": [ + -0.0005277572781778872, + 0.0014032182516530156, + 3.333678250783123e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.08987140655517578, + 0.4499969482421875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -9.793165167693019e-10, + 2.77153322514323e-09, + 2.3953696654643863e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.693970071111835e-10, + 7.657351197565276e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.2861843262944603e-07, + -8.053550004660792e-08, + 5.104470801597927e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.0643444061279297, + 1.1524629592895508, + 0.9179999828338623 + ], + "ori": [ + 0.010442284867167473, + -1.6315097184360638e-07, + 7.358691505032766e-07, + 0.9999455213546753 + ], + "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": [ + 1.337359663011739e-06, + -2.3124880499381106e-06, + -8.32974910736084e-06 + ], + "angular_velocity": [ + 0.00014839190407656133, + -6.44585961708799e-05, + 3.4532964491518214e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.06020355224609375, + 1.1426324844360352, + 0.9180000424385071 + ], + "ori": [ + 0.007374615408480167, + 5.89788200500152e-08, + 1.1547122369393037e-07, + 0.9999728798866272 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.0031977732724044e-07, + -4.2394831325509585e-06, + -5.435198545455933e-06 + ], + "angular_velocity": [ + -2.8726619802910136e-06, + 2.047944872174412e-05, + 2.026002221100498e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.6724462509155273, + 0.9034738540649414, + 0.9180001020431519 + ], + "ori": [ + 0.6186819672584534, + -2.389395149293705e-06, + -4.629987870430341e-06, + 0.7856414914131165 + ], + "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": [ + 2.4355613277293742e-05, + 1.4653997823188547e-05, + -4.120543599128723e-05 + ], + "angular_velocity": [ + -0.0005850298330187798, + 0.0014255011919885874, + 7.090795406838879e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -0.09534072875976562, + 0.45217227935791016, + 0.9179999828338623 + ], + "ori": [ + 0.9998358488082886, + -3.870295639529786e-09, + 4.491277127982585e-09, + -0.01812375895678997 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.776003402819697e-08, + -6.403728214365856e-09, + 1.7136335372924805e-07 + ], + "angular_velocity": [ + 7.818626954758656e-07, + -2.994284386659274e-06, + 2.387167796769063e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 5.599999999999903, + "step": 1120, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.728330999988819e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.28919758668352813, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1069, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.218597799539566, + 0.6974170804023743, + 0.0 + ], + "carrier_2": [ + -0.08911171555519104, + 0.7000015377998352, + 0.0 + ], + "carrier_3": [ + 1.5346990525722504, + 0.4463852047920227, + 2.384185791015625e-07 + ], + "carrier_4": [ + -0.23987141251564026, + -3.039836883544922e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.5713510052145037, + -0.21645033635969801, + 2.916785941019696 + ], + "ori": [ + -10.198434218698653, + -8.60031144163599, + 2.552794711843248 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5549.860739306507, + "color": [ + 0.9243173786997769, + 0.8118728026545815, + 0.8425067895407672 + ], + "intensity": 8671.720660263356, + "width": 2.549958470928542, + "height": 0.9588610696088018 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.2729762571578482, + -0.8294924995620967, + 2.385238851039251 + ], + "ori": [ + 22.833848800932515, + 7.3525276774049, + -0.1622156354819566 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3852.394570646754, + "color": [ + 0.8278165797469953, + 0.9672117120405759, + 0.7658384001419587 + ], + "intensity": 9598.950300074415, + "radius": 0.1045361093900217 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1276.2940711366452, + "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 + ], + [ + 0.9141040444374084, + -1.7193968296051025, + 2.0904972553253174, + -1.9418995380401611, + -1.5707999467849731, + 2.4849021434783936, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141027331352234, + -1.7193984985351562, + 2.090498685836792, + -1.9419001340866089, + -1.5707999467849731, + 2.4849002361297607, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.0048502683639526, + -1.435428261756897, + 2.0228376388549805, + -2.158212661743164, + -1.5707690715789795, + 2.4332337379455566, + 0.007728330325335264, + 0.007121190428733826 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 2.2846987363613788e-38, + -2.8785175978885955e-38, + -2.727698646770244e-38, + -4.158446687517434e-37, + 6.1340555565386774e-37, + 7.923289599831054e-38, + 2.5990388508034812e-08, + -2.5990386731677972e-08 + ], + [ + -2.2330191292567724e-38, + 2.912142595319148e-38, + 2.769575050078127e-38, + 4.22868111179592e-37, + -6.240040355654526e-37, + -8.311628080133076e-38, + 2.5990399166175848e-08, + -2.599039206074849e-08 + ], + [ + 0.00014973829092923552, + 1.1154925232403912e-06, + -6.110672984505072e-05, + 0.00039888330502435565, + -0.00039541517617180943, + -0.0013986926060169935, + -0.007527231238782406, + 0.0002876868238672614 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04443280026316643, + -0.000756282068323344, + -0.02854347415268421, + -0.284300833940506, + 0.6451339721679688, + 0.6486597657203674, + -0.2867327630519867 + ], + [ + 0.04772942513227463, + 1.7532256606500596e-05, + -0.03134561702609062, + -0.2747637927532196, + 0.6557544469833374, + 0.6374533772468567, + -0.29689085483551025 + ], + [ + 0.048004891723394394, + -0.0012351033510640264, + -0.02927498333156109, + -0.2867579758167267, + 0.6467790007591248, + 0.6528087258338928, + -0.27071669697761536 + ], + [ + 0.04943414032459259, + 0.0018999315798282623, + -0.03237096965312958, + -0.2848401367664337, + 0.6471380591392517, + 0.6483801603317261, + -0.2822793126106262 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e006/wrist.mp4 b/episodes/c6_p001_e006/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bdf9bbff5f62e312dba639d01aef5bf31ffbe1f8 --- /dev/null +++ b/episodes/c6_p001_e006/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a2ee3cab7dc70103955bcc834df3aae73ee3fe2d6a5a7845cefe552ed74159a +size 6642337 diff --git a/episodes/c6_p001_e007/data.npz b/episodes/c6_p001_e007/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..088a8b5cc08babc75d2bd1e15c12033e31c1e24d --- /dev/null +++ b/episodes/c6_p001_e007/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86144b5ffa77503ac47cef6ba755512fae0893eadff736a4b1b91a07594371fa +size 191860 diff --git a/episodes/c6_p001_e007/device_events.jsonl b/episodes/c6_p001_e007/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a21885924ca7b491d4d3f78d5d4677e8482af603 --- /dev/null +++ b/episodes/c6_p001_e007/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 170, "t": 0.85, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 170, "t": 0.85, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 175, "t": 0.875, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 5887, "t": 29.435, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6500, "t": 32.5, "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": 6500, "t": 32.5, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.1946550090612424}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6500, "t": 32.5, "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": 6500, "t": 32.5, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 9, "step": 6500, "t": 32.5, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 10, "step": 6919, "t": 34.595, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 6919, "t": 34.595, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 6919, "t": 34.595, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 6919, "t": 34.595, "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": 6919, "t": 34.595, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 6919, "t": 34.595, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 6919, "t": 34.595, "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": 6919, "t": 34.595, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 18, "step": 6919, "t": 34.595, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.1946550090612424}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7758, "t": 38.79, "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": 7758, "t": 38.79, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.195000000002146}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7758, "t": 38.79, "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": 4.195000000002146}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7758, "t": 38.79, "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": 7758, "t": 38.79, "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": 7758, "t": 38.79, "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": 8178, "t": 40.89, "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": 8178, "t": 40.89, "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": 8178, "t": 40.89, "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": 8178, "t": 40.89, "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": 8178, "t": 40.89, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8178, "t": 40.89, "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": 8755, "t": 43.775, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 10488, "t": 52.44, "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": 10488, "t": 52.44, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 10488, "t": 52.44, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10488, "t": 52.44, "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_p001_e007/env.mp4 b/episodes/c6_p001_e007/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..098572b31371c5e06830b36df2fc8a4114b5cbad --- /dev/null +++ b/episodes/c6_p001_e007/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e50ec99316f041a9658bb6e75ba60672ef2b46dcf8697da263aad673272cbe32 +size 1215188 diff --git a/episodes/c6_p001_e007/meta.json b/episodes/c6_p001_e007/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..94d5cd622290e8358671c2ff8bd75ea6e30e1a12 --- /dev/null +++ b/episodes/c6_p001_e007/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/7", + "fps": 25, + "frames": 1234, + "kept_ticks": "even", + "video_frames": { + "wrist": 1234, + "env": 1234 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e007/scene_snapshot.json b/episodes/c6_p001_e007/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..6df9f757dd34ce12f94850cf7d51738bd0b780ca --- /dev/null +++ b/episodes/c6_p001_e007/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 7, + "env_id": 0, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5073986053466797, + 0.06928730010986328, + 0.8999999761581421 + ], + "ori": [ + -0.6957700252532959, + 0.0, + 0.0, + 0.718264639377594 + ], + "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": [ + 1.34566674209885e-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": 0.242885779680157, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.22449188578353985, + "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": 0.242885779680157, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.667668342590332, + 0.6593084335327148, + 0.8999999761581421 + ], + "ori": [ + 0.8426865339279175, + -9.124502042823224e-09, + 1.8011146352137075e-08, + 0.5384044051170349 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.617660672081911e-08, + 4.962385613538345e-09, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -2.7402091973272036e-07, + -5.017580519961484e-07, + -1.9966331876730692e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1072378158569336, + 1.1420316696166992, + 0.8999999761581421 + ], + "ori": [ + -0.07364083081483841, + 7.173792937464896e-08, + -2.3446787622560805e-08, + 0.9972848892211914 + ], + "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": [ + 6.644026440127959e-10, + -2.004739485528262e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.4336814047055668e-07, + 5.3043773817762485e-08, + 2.1286346019167013e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.07491207122802734, + 0.44736671447753906, + 0.8999999761581421 + ], + "ori": [ + 0.9999507069587708, + -2.5329736086376897e-09, + 2.0658996735534174e-10, + 0.009938670322299004 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0919799509068184e-09, + -3.2352089895937297e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 4.6999709013562097e-08, + -9.413439983063654e-08, + -2.10452313353926e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.39313411712646484, + 1.152552604675293, + 0.8999999761581421 + ], + "ori": [ + -0.011747634969651699, + -5.4187041520492585e-09, + -1.7645565009161146e-09, + 0.9999310374259949 + ], + "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": [ + 9.900853470412585e-10, + 1.4267531156519908e-08, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + -5.012735755371978e-07, + 6.339092806229019e-09, + 4.1893990498920175e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.6569175720214844, + 0.656611442565918, + 0.9179999828338623 + ], + "ori": [ + 0.871143639087677, + 3.637856593741162e-07, + 2.827538594374346e-07, + 0.49102839827537537 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.883781225042185e-06, + 4.359539786946698e-07, + -6.891787052154541e-07 + ], + "angular_velocity": [ + -3.474444747553207e-05, + -7.446274685207754e-05, + 3.954788553528488e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -1.1141386032104492, + 1.1396818161010742, + 0.9180000424385071 + ], + "ori": [ + -0.03555827960371971, + 7.456988981857648e-08, + -3.116556968052464e-08, + 0.9993676543235779 + ], + "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": [ + 4.651906237995718e-08, + 3.2876013023042105e-09, + -4.813075065612793e-06 + ], + "angular_velocity": [ + -3.0684718694828916e-06, + 1.3128499176673358e-06, + 3.82439992563377e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -0.08368682861328125, + 0.4558095932006836, + 0.9180000424385071 + ], + "ori": [ + -0.9974560737609863, + 1.9057566635893863e-09, + 2.484538408342729e-10, + 0.07128401845693588 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.041593288344302e-08, + -3.824976602118113e-08, + -5.632638931274414e-06 + ], + "angular_velocity": [ + 7.526479635089345e-07, + -2.586145456007216e-06, + -2.4005043286479122e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.4015827178955078, + 1.1550445556640625, + 0.9179999828338623 + ], + "ori": [ + -0.10518308728933334, + -5.6076334686849805e-09, + -6.522012929721654e-10, + 0.9944528937339783 + ], + "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": [ + 3.717038055128796e-08, + 1.1374827124654985e-07, + -1.173466444015503e-06 + ], + "angular_velocity": [ + -2.464069211782771e-06, + 1.6838637293403735e-06, + 5.1420101954136044e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 3.2599999999999527, + "step": 652, + "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": 1.34566674209885e-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": 0.242885779680157, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 481, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5176683366298676, + 0.2093084454536438, + 0.0 + ], + "carrier_2": [ + -1.257237821817398, + 0.6920316815376282, + 0.0 + ], + "carrier_3": [ + -0.22491207718849182, + -0.0026332736015319824, + 0.0 + ], + "carrier_4": [ + 0.24313411116600037, + 0.7025526165962219, + 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": [ + -0.5670036210377201, + 0.27244407847205476, + 2.6112321593175243 + ], + "ori": [ + -0.30373230966614706, + -8.45684820558092, + 19.4957942235551 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5229.292782785412, + "color": [ + 0.8284760876441049, + 0.9811822983146883, + 0.9852010731719447 + ], + "intensity": 10650.371838744191, + "width": 1.8618616492357982, + "height": 1.828950738451945 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.6337135217851435, + 1.5393330429475698, + 1.6065101928044345 + ], + "ori": [ + -5.100535851519339, + -23.993944736289663, + -12.240337415661628 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3276.999021438609, + "color": [ + 0.8665102080223189, + 0.947466086660746, + 0.9067526960708029 + ], + "intensity": 5380.388277259667, + "radius": 0.15839122652897913 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1276.2940711366452, + "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 + ], + [ + 1.1602869033813477, + -1.5646069049835205, + 2.1539881229400635, + -2.1601650714874268, + -1.5707932710647583, + 2.765915632247925, + 0.01800033450126648, + 0.017999665811657906 + ], + [ + 1.1643697023391724, + -1.6273146867752075, + 2.1625235080718994, + -2.105978488922119, + -1.570796012878418, + 2.7655763626098633, + 0.018000535666942596, + 0.017999468371272087 + ], + [ + 1.0051251649856567, + -1.4360246658325195, + 2.0226612091064453, + -2.157052993774414, + -1.5706558227539062, + 2.433392286300659, + 0.007073067128658295, + 0.0079259118065238 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.011847319081425667, + 0.007551243994385004, + 0.0031843711622059345, + -0.010284475050866604, + 1.8949605873785913e-05, + 0.01329112146049738, + 5.325699930835981e-06, + -5.350159881345462e-06 + ], + [ + 0.03467630222439766, + 0.012800202704966068, + 0.010253128595650196, + -0.022210603579878807, + 6.802158168284222e-05, + 0.0381552129983902, + 5.6941867114801425e-06, + -5.7623296925157774e-06 + ], + [ + -0.0030450322665274143, + -0.001545144827105105, + -0.0031795350369066, + -0.0013187830336391926, + -0.002354968339204788, + -0.008299856446683407, + -0.005637705326080322, + 0.00024927788763307035 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04692915827035904, + 0.0005697573069483042, + -0.027340542525053024, + -0.2890556752681732, + 0.6444841623306274, + 0.6503036618232727, + -0.2796285152435303 + ], + [ + 0.04660574346780777, + 0.00027457549003884196, + -0.031134989112615585, + -0.27898865938186646, + 0.6496314406394958, + 0.6406724452972412, + -0.29947134852409363 + ], + [ + 0.046995725482702255, + -0.0017912383191287518, + -0.028070639818906784, + -0.2821548879146576, + 0.6479299068450928, + 0.6529557704925537, + -0.2724412977695465 + ], + [ + 0.05097898095846176, + 0.00407667038962245, + -0.03308885172009468, + -0.2819853723049164, + 0.6486003994941711, + 0.6476022601127625, + -0.2835720181465149 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e007/wrist.mp4 b/episodes/c6_p001_e007/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..908687522a6d660d3e9be5023e077b69a1bc4087 --- /dev/null +++ b/episodes/c6_p001_e007/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f033a60a2bb2d60c2c7331c590760a8de9810b6f81425275e306451050bd28cf +size 8465120 diff --git a/episodes/c6_p001_e008/data.npz b/episodes/c6_p001_e008/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..d109efa3e7c203a82159f9fceedc2d450b086cdc --- /dev/null +++ b/episodes/c6_p001_e008/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7d000ff37a46d0035912a857741d0c1e6b008e3b7c505e413587ba5405b1cde +size 199391 diff --git a/episodes/c6_p001_e008/device_events.jsonl b/episodes/c6_p001_e008/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a7e2dc6e50c3895d42b5bc6ee2f7c3d2563e4c4d --- /dev/null +++ b/episodes/c6_p001_e008/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 68, "t": 0.34, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 68, "t": 0.34, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 73, "t": 0.365, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 5366, "t": 26.83, "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": 5980, "t": 29.9, "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": 5980, "t": 29.9, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.2127080888328914}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 5980, "t": 29.9, "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": 5980, "t": 29.9, "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": 5980, "t": 29.9, "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": 6399, "t": 31.995, "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": 6399, "t": 31.995, "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": 6399, "t": 31.995, "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": 6399, "t": 31.995, "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": 6399, "t": 31.995, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 6399, "t": 31.995, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6399, "t": 31.995, "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": 6399, "t": 31.995, "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": 6399, "t": 31.995, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.2127080888328914}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7042, "t": 35.21, "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": 7042, "t": 35.21, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.215000000001641}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7042, "t": 35.21, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.215000000001641}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7042, "t": 35.21, "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": 7042, "t": 35.21, "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": 7042, "t": 35.21, "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": 7462, "t": 37.31, "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": 7462, "t": 37.31, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.976184157598709e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 7462, "t": 37.31, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.976184157598709e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 7462, "t": 37.31, "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": 7462, "t": 37.31, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 7462, "t": 37.31, "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": 8043, "t": 40.215, "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": 10284, "t": 51.42, "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": 10284, "t": 51.42, "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": 10284, "t": 51.42, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10284, "t": 51.42, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c6_p001_e008/env.mp4 b/episodes/c6_p001_e008/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f39ad94f389f1b6075789dbe9af038423bdd9125 --- /dev/null +++ b/episodes/c6_p001_e008/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0024599f93e26bf583d2a3cf94df4af2601068e63be37c78b6d9ad4b65b2ca67 +size 1316148 diff --git a/episodes/c6_p001_e008/meta.json b/episodes/c6_p001_e008/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..abde6e723c0989410546fd48952769ff5a8813a6 --- /dev/null +++ b/episodes/c6_p001_e008/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/8", + "fps": 25, + "frames": 1265, + "kept_ticks": "even", + "video_frames": { + "wrist": 1265, + "env": 1265 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e008/scene_snapshot.json b/episodes/c6_p001_e008/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..45e69b8aa02540ce0097a0f10e514707902de9d4 --- /dev/null +++ b/episodes/c6_p001_e008/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 8, + "env_id": 1, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_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": [ + 0.46108436584472656, + 0.05295372009277344, + 0.8999999761581421 + ], + "ori": [ + 0.7118666768074036, + 0.0, + 0.0, + -0.7023146152496338 + ], + "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": 0.24621652473522804, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1912876499368793, + "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": 0.24621652473522804, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2023296356201172, + 1.1118192672729492, + 0.8999999761581421 + ], + "ori": [ + -0.21732264757156372, + 1.6463907570596348e-08, + 3.8875377583735826e-08, + 0.9760999083518982 + ], + "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": [ + -3.177939300602617e-10, + 6.140731811932199e-10, + 0.0 + ], + "angular_velocity": [ + -5.434969096995701e-08, + -2.8540272367649777e-08, + -1.285193396149964e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.041319847106933594, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.97643332203279e-09, + -6.152851561580519e-10, + -2.1720939912484027e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.475942949611067e-10, + 7.966454163010894e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.9054987749077554e-08, + -4.4132665522056413e-08, + 1.1612142358785604e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5592737197875977, + 0.5234565734863281, + 0.8999999761581421 + ], + "ori": [ + 0.9507377743721008, + -3.826154681974003e-08, + 2.6168583744379248e-08, + 0.30999648571014404 + ], + "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": [ + -7.024697490365384e-11, + -2.916155650289909e-10, + 0.0 + ], + "angular_velocity": [ + 2.3353077693855084e-08, + -1.8882957419918966e-09, + 9.754205221312873e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.7624015808105469, + 1.149993896484375, + 0.8999999761581421 + ], + "ori": [ + 6.491652311524376e-05, + -1.5160885880050046e-08, + 1.3328829595593561e-08, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.502890117384027e-10, + -2.712207569643965e-09, + 0.0 + ], + "angular_velocity": [ + 1.0035491726512191e-07, + 1.8362150910888886e-08, + 3.697479300512896e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.205087661743164, + 1.098978042602539, + 0.9179999828338623 + ], + "ori": [ + -0.1589726060628891, + 1.3675330201579072e-08, + 4.402413011916906e-08, + 0.9872830510139465 + ], + "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": [ + 1.1764174523420934e-08, + 5.707715544644998e-08, + 8.940696716308594e-08 + ], + "angular_velocity": [ + -2.087691882479703e-06, + 1.0445623956911732e-06, + -8.989324840058543e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -0.03840446472167969, + 0.4422883987426758, + 0.9180000424385071 + ], + "ori": [ + 0.999858558177948, + 6.512523853530183e-10, + -6.746059266760085e-10, + 0.01682114414870739 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5976993950062024e-08, + 1.701758201022585e-08, + -5.416572093963623e-06 + ], + "angular_velocity": [ + -1.384398728987435e-07, + -1.280860487895552e-06, + 1.0607344336222013e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.5560102462768555, + 0.5300788879394531, + 0.9179999828338623 + ], + "ori": [ + 0.9382621049880981, + -3.61863499165338e-08, + 2.7700902904825853e-08, + 0.3459252119064331 + ], + "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": [ + -2.1466146193915847e-08, + -1.2457655351738595e-08, + -5.941838026046753e-06 + ], + "angular_velocity": [ + 1.7130042806456913e-06, + -6.623695298912935e-07, + 1.2247112124441628e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.7587251663208008, + 1.1615724563598633, + 0.9179999828338623 + ], + "ori": [ + -0.016080284491181374, + -1.0272535710953434e-08, + 1.5038539302736353e-08, + 0.999870777130127 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0047629928067181e-07, + -1.9254027705528642e-08, + 1.862645149230957e-07 + ], + "angular_velocity": [ + 1.3640128599945456e-06, + 3.519887513903086e-06, + 2.63580176351752e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 1.0000000000000007, + "step": 200, + "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": 0.24621652473522804, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 131, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.3523296415805817, + 0.6618192791938782, + 0.0 + ], + "carrier_2": [ + -0.19131985306739807, + 7.748603820800781e-07, + 0.0 + ], + "carrier_3": [ + 1.4092737138271332, + 0.07345658540725708, + 0.0 + ], + "carrier_4": [ + 0.6124015748500824, + 0.699993908405304, + 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": [ + 0.8121219613711129, + 0.4254210479656807, + 2.9482619426945895 + ], + "ori": [ + 4.231214246889365, + 8.940800482662205, + 17.26203293655388 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6950.767387104859, + "color": [ + 0.9584908365427856, + 0.9019712589906219, + 0.8906955863691881 + ], + "intensity": 6816.062439922414, + "width": 1.6560984200124949, + "height": 0.8749343182803486 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.606463768752828, + 0.39505804456499627, + 1.8278257568087553 + ], + "ori": [ + -23.434417449570955, + -7.049081501590763, + -29.982060271864988 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3818.560828034334, + "color": [ + 0.8314367326018954, + 0.9404760910613392, + 0.9620294056475344 + ], + "intensity": 8627.453621135888, + "radius": 0.14815699259285348 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1276.2940711366452, + "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": [ + [ + 1.1330945491790771, + -1.297366976737976, + 2.253200054168701, + -2.503075361251831, + -1.577337622642517, + 2.6818699836730957, + 0.017999989911913872, + 0.01799999177455902 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141013622283936, + -1.719399094581604, + 2.0904996395111084, + -1.9419007301330566, + -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": [ + [ + 1.2832736175777404e-12, + 3.4059182780765695e-06, + 6.81192932461272e-06, + -4.631683925282459e-12, + -6.811953426222317e-06, + 6.8119588831905276e-06, + 1.299580674185563e-07, + 1.0395480387614953e-07 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -2.5053689126801615e-38, + 1.5330048254285494e-38, + -2.0230400194417094e-38, + 4.46098949225046e-37, + -4.771392124017944e-38, + 4.4482881229698195e-37, + -2.5990399166175848e-08, + 2.5990388508034812e-08 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.048455048352479935, + 0.0004787039943039417, + -0.028602130711078644, + -0.28148242831230164, + 0.6423282623291016, + 0.6539392471313477, + -0.28380534052848816 + ], + [ + 0.048825398087501526, + 0.001298057148233056, + -0.029038092121481895, + -0.27550995349884033, + 0.6537429094314575, + 0.6390756368637085, + -0.29714781045913696 + ], + [ + 0.05085083469748497, + -0.00047542460379190743, + -0.03133292496204376, + -0.28696492314338684, + 0.6442656517028809, + 0.6529902219772339, + -0.27600112557411194 + ], + [ + 0.05209142714738846, + 0.0037740578409284353, + -0.03388549014925957, + -0.2820773720741272, + 0.6489336490631104, + 0.64719557762146, + -0.28364649415016174 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e008/wrist.mp4 b/episodes/c6_p001_e008/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6d9076334a98cc9d58915f3216f9e260758a28d3 --- /dev/null +++ b/episodes/c6_p001_e008/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e14a799e5f27df806e5f73ced3caacb9cf8951d344ff2cd0d6f89803418dfacb +size 7225490 diff --git a/episodes/c6_p001_e009/data.npz b/episodes/c6_p001_e009/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..14f5f29f72e7860d6f2f7501a643077f1185f88d --- /dev/null +++ b/episodes/c6_p001_e009/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d368b4005930203067c4221bfcb1ba2192517dad25355016034077632889d336 +size 191764 diff --git a/episodes/c6_p001_e009/device_events.jsonl b/episodes/c6_p001_e009/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..974aecf44bfbbeabd78e8288d87b8e5598de432e --- /dev/null +++ b/episodes/c6_p001_e009/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 74, "t": 0.37, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 74, "t": 0.37, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 79, "t": 0.395, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6614, "t": 33.07, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7224, "t": 36.12, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 7224, "t": 36.12, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.8430484032471988}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7224, "t": 36.12, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 7224, "t": 36.12, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 7224, "t": 36.12, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7643, "t": 38.215, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7643, "t": 38.215, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7643, "t": 38.215, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7643, "t": 38.215, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7643, "t": 38.215, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7643, "t": 38.215, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7643, "t": 38.215, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7643, "t": 38.215, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7643, "t": 38.215, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.8430484032471988}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8012, "t": 40.06, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 8012, "t": 40.06, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.8450000000009439}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8012, "t": 40.06, "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": 1.8450000000009439}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8012, "t": 40.06, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 8012, "t": 40.06, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 8012, "t": 40.06, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8432, "t": 42.16, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8432, "t": 42.16, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.06047604031545e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8432, "t": 42.16, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.06047604031545e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8432, "t": 42.16, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8432, "t": 42.16, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8432, "t": 42.16, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 9011, "t": 45.055, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 10772, "t": 53.86, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 10772, "t": 53.86, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10772, "t": 53.86, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 10772, "t": 53.86, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c6_p001_e009/env.mp4 b/episodes/c6_p001_e009/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a9c49e3e76ca88a5d98f56afeb6aa00b8e959fcc --- /dev/null +++ b/episodes/c6_p001_e009/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb78feeb6bf24dd84bc7a85137506626a90c568f6abb7fb26e5f98cc90896ffc +size 1213910 diff --git a/episodes/c6_p001_e009/meta.json b/episodes/c6_p001_e009/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3c6e998ff0721cf2eb2cf450e80663e9275b9627 --- /dev/null +++ b/episodes/c6_p001_e009/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/9", + "fps": 25, + "frames": 1212, + "kept_ticks": "even", + "video_frames": { + "wrist": 1212, + "env": 1212 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e009/scene_snapshot.json b/episodes/c6_p001_e009/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..3b8be123af8fd5fa585640ee47f0754a1a9883c1 --- /dev/null +++ b/episodes/c6_p001_e009/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 9, + "env_id": 3, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.47048377990722656, + 0.05947589874267578, + 0.8999999761581421 + ], + "ori": [ + -0.6987550854682922, + 0.0, + 0.0, + 0.7153609991073608 + ], + "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": [ + 4.373417860498163e-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": 0.264203373184841, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1158149843740105, + "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": 0.264203373184841, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.06784629821777344, + 1.1500015258789062, + 0.8999999761581421 + ], + "ori": [ + 1.6696237992164242e-07, + -7.826995163107142e-10, + -3.876402310254434e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.50810475219032e-11, + -1.3252033914668004e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 6.963839638274294e-08, + 5.222403842708445e-09, + 9.40431732487923e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3502979278564453, + 0.9741058349609375, + 0.8999999761581421 + ], + "ori": [ + -0.4915737807750702, + 5.0890580638451866e-08, + 3.4143141647291486e-08, + 0.8708359599113464 + ], + "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": [ + 2.3987734021346796e-09, + -1.6159996674147692e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 6.905224836373236e-08, + -7.88457796829789e-08, + -5.859446261524681e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6820745468139648, + 0.9068756103515625, + 0.8999999761581421 + ], + "ori": [ + 0.5902512073516846, + -2.239440455298336e-08, + 2.3331242715585176e-08, + 0.8072196245193481 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.451564365545948e-10, + -5.112871237500372e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 4.201088543709375e-08, + 2.0836548486613538e-08, + -1.2411319971761259e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.03416156768798828, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.714726387078372e-10, + 3.1846756343156812e-09, + -7.867334352340549e-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": [ + -1.8078860630765803e-10, + 9.727298966311082e-10, + 0.0 + ], + "angular_velocity": [ + -7.203681207101909e-08, + -2.7616657405360456e-08, + -4.5538079973539425e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.06470298767089844, + 1.1559457778930664, + 0.9179999828338623 + ], + "ori": [ + -0.027946526184678078, + -2.561608036799612e-09, + -5.170007533195076e-09, + 0.9996094107627869 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.068991105692476e-08, + -1.3718101321558152e-08, + 8.568167686462402e-08 + ], + "angular_velocity": [ + 2.648324937126745e-07, + 1.5335483567469055e-06, + 1.6775845779193332e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.3416719436645508, + 0.9800424575805664, + 0.9180000424385071 + ], + "ori": [ + -0.4790363907814026, + 5.1359112518412076e-08, + 3.4742651422448034e-08, + 0.8777951598167419 + ], + "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": [ + 2.619831818151397e-08, + 5.829847271598965e-09, + -6.359070539474487e-06 + ], + "angular_velocity": [ + -2.181896434194641e-06, + -1.0517669579712674e-07, + -1.7156480680569075e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 1.674703598022461, + 0.9114723205566406, + 0.9180000424385071 + ], + "ori": [ + 0.5720967054367065, + -2.1040268194383316e-08, + 2.2406474897707085e-08, + 0.8201862573623657 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1088006068860068e-09, + -1.9482236268686393e-08, + -5.2675604820251465e-06 + ], + "angular_velocity": [ + 7.908726047389791e-07, + 7.736144880254869e-07, + 5.829366855891749e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.046853065490722656, + 0.4537324905395508, + 0.9179999828338623 + ], + "ori": [ + 0.9995203018188477, + 5.878645903401036e-10, + 2.5388797730840906e-09, + 0.030972611159086227 + ], + "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": [ + -6.102722949208328e-08, + -1.054550846646407e-08, + -6.51925802230835e-07 + ], + "angular_velocity": [ + 3.9554996078550175e-07, + -2.016488906519953e-06, + 1.3754194583270873e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 5.559999999999904, + "step": 1112, + "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": 4.373417860498163e-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": 0.264203373184841, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1037, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.08215370774269104, + 0.7000015377998352, + 0.0 + ], + "carrier_2": [ + -1.5002979338169098, + 0.5241058468818665, + 0.0 + ], + "carrier_3": [ + 1.5320745408535004, + 0.45687562227249146, + 0.0 + ], + "carrier_4": [ + -0.1158384382724762, + 1.7285346984863281e-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": [ + 0.2580988222614323, + -0.19531691441667287, + 3.051768883996037 + ], + "ori": [ + -1.8119093021924684, + -9.636488574660966, + -22.50700016547881 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7192.572819656916, + "color": [ + 0.8529035551475183, + 0.9069201755487499, + 0.9733420452242229 + ], + "intensity": 11617.301011938123, + "width": 2.7478683191068187, + "height": 0.8600229790795287 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.24239093961826996, + 0.9730836720233931, + 1.9477122248340877 + ], + "ori": [ + -3.857678329388335, + 9.131289119901965, + 31.66324896396381 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6751.799304395989, + "color": [ + 0.7574632342693144, + 0.8691472226710376, + 0.8663163446306411 + ], + "intensity": 8869.324724357655, + "radius": 0.41743014806889756 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1479.715887103038, + "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": [ + [ + 0.9141006469726562, + -1.719398021697998, + 2.0904998779296875, + -1.9419010877609253, + -1.5707999467849731, + 2.4848999977111816, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 1.0524182319641113, + -1.2892189025878906, + 2.262115955352783, + -2.543630599975586, + -1.5708454847335815, + 2.589334487915039, + 0.007623175159096718, + 0.007024270016700029 + ], + [ + 0.9417096376419067, + -1.692653775215149, + 2.1112072467803955, + -1.9893215894699097, + -1.5707968473434448, + 2.5399608612060547, + 0.01800086535513401, + 0.017999162897467613 + ], + [ + 0.9141013026237488, + -1.7193982601165771, + 2.0904994010925293, + -1.9419007301330566, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ] + ], + "joint_vel": [ + [ + 2.886378321754072e-38, + -1.6209259344562957e-38, + -2.612999564868329e-38, + -5.257792910334031e-37, + 2.061997461996465e-37, + -2.806067888893828e-37, + 5.1980745041646514e-08, + -5.1980798332351696e-08 + ], + [ + -0.0002201216557295993, + 1.4499808457912877e-05, + -0.00017024867702275515, + -0.0020930019672960043, + 0.001802008249796927, + 0.0077837626449763775, + -0.008254673331975937, + 0.0003021032316610217 + ], + [ + 0.013527805916965008, + 0.013546198606491089, + 0.010454642586410046, + -0.022898441180586815, + 2.413559559499845e-05, + 0.026667384430766106, + 2.470422441547271e-05, + -2.500319533282891e-05 + ], + [ + 2.3024856980287466e-38, + -1.9630487506258068e-38, + 1.2889434744940247e-38, + -5.759031765829161e-37, + 5.793386223188303e-37, + -2.9935591571351915e-36, + -2.5990372520823257e-08, + 2.5990388508034812e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.046994518488645554, + -0.00018777177319861948, + -0.027140704914927483, + -0.28642791509628296, + 0.6410145163536072, + 0.6554034352302551, + -0.2783986032009125 + ], + [ + 0.047958262264728546, + -0.0006316236685961485, + -0.031118644401431084, + -0.27434301376342773, + 0.6525903344154358, + 0.6427779197692871, + -0.29274284839630127 + ], + [ + 0.04736169055104256, + -0.0027368401642888784, + -0.02819182351231575, + -0.28180593252182007, + 0.649565577507019, + 0.6520159244537354, + -0.27115532755851746 + ], + [ + 0.04968627542257309, + 0.0014647955540567636, + -0.033360786736011505, + -0.2820122241973877, + 0.6516320705413818, + 0.645989716053009, + -0.2802535593509674 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e009/wrist.mp4 b/episodes/c6_p001_e009/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1a23473a146a8cd2137c8044d13b3d7bc20ffc9f --- /dev/null +++ b/episodes/c6_p001_e009/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96c4e09e9f498bc31bc10e1732c77ec6f0650a6b42d13a8340552a1b7b0bb04e +size 6550049 diff --git a/episodes/c6_p001_e010/data.npz b/episodes/c6_p001_e010/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..7f2305ac8b1fa6bbb08d45dd5468f69be55ea112 --- /dev/null +++ b/episodes/c6_p001_e010/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f890e04f2a71560d5e91cdf852b541a378980c844777fb5c4ec605a6421e2797 +size 193954 diff --git a/episodes/c6_p001_e010/device_events.jsonl b/episodes/c6_p001_e010/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a4a55ee9c27d388522c89e74d3de94fef419ddb5 --- /dev/null +++ b/episodes/c6_p001_e010/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 62, "t": 0.31, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 62, "t": 0.31, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 67, "t": 0.335, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1236, "t": 6.18, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6299, "t": 31.495, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6912, "t": 34.56, "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": 6912, "t": 34.56, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.333734341635065}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6912, "t": 34.56, "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": 6912, "t": 34.56, "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": 6912, "t": 34.56, "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": 7331, "t": 36.655, "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": 7331, "t": 36.655, "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": 7331, "t": 36.655, "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": 7331, "t": 36.655, "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": 7331, "t": 36.655, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7331, "t": 36.655, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7331, "t": 36.655, "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": 7331, "t": 36.655, "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": 7331, "t": 36.655, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.333734341635065}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 8198, "t": 40.99, "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": 8198, "t": 40.99, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.335000000002218}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8198, "t": 40.99, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.335000000002218}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 8198, "t": 40.99, "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": 8198, "t": 40.99, "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": 8198, "t": 40.99, "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": 8618, "t": 43.09, "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": 8618, "t": 43.09, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 8.04708383261854e-12}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8618, "t": 43.09, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 8.04708383261854e-12}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8618, "t": 43.09, "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": 8618, "t": 43.09, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8618, "t": 43.09, "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": 9199, "t": 45.995, "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": 10944, "t": 54.72, "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": 10944, "t": 54.72, "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": 10944, "t": 54.72, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10944, "t": 54.72, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c6_p001_e010/env.mp4 b/episodes/c6_p001_e010/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7291fc18791c45c7a1ce6303cf27088d6b688d18 --- /dev/null +++ b/episodes/c6_p001_e010/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b162bd744f7bdd7548d22fdddba8d008cf3ead0b4d9f03a441f069e9e888c20 +size 1197435 diff --git a/episodes/c6_p001_e010/meta.json b/episodes/c6_p001_e010/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..52060ad318d5fcebf1b0fa453812320316cfb00a --- /dev/null +++ b/episodes/c6_p001_e010/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/10", + "fps": 25, + "frames": 1273, + "kept_ticks": "even", + "video_frames": { + "wrist": 1273, + "env": 1273 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e010/scene_snapshot.json b/episodes/c6_p001_e010/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..ff5fffe2c27eaaf6e7df400726438319ec7a066e --- /dev/null +++ b/episodes/c6_p001_e010/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 10, + "env_id": 2, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 0.5043811798095703, + 0.1029367446899414, + 0.8999999761581421 + ], + "ori": [ + -0.6904402375221252, + 0.0, + 0.0, + 0.7233894467353821 + ], + "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": 0.27082446593718346, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2093550068696196, + "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": 0.27082446593718346, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.05961322784423828, + 0.4499988555908203, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.1340080263710917e-10, + 3.467077180907552e-10, + -1.0003343049902469e-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": [ + 2.484585426287822e-09, + 3.066549680852404e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -2.1031773655977304e-07, + 2.2846974445656087e-07, + -1.7745950486869333e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.698359489440918, + 0.8192577362060547, + 0.8999999761581421 + ], + "ori": [ + 0.6889424920082092, + 7.590515593847158e-08, + -6.369113236814883e-08, + 0.724816083908081 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2502528790037104e-08, + -1.0012994380304008e-06, + -3.729015588760376e-06 + ], + "angular_velocity": [ + 8.741595229366794e-05, + 3.6690294109575916e-06, + -5.93300171658484e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.391188621520996, + 0.8672552108764648, + 0.8999999761581421 + ], + "ori": [ + -0.6261419653892517, + 5.925034241016647e-09, + 1.6169057204251658e-08, + 0.7797091603279114 + ], + "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": [ + 1.0875990108516476e-09, + -2.7913824585112934e-09, + -1.4901161193847656e-08 + ], + "angular_velocity": [ + 2.0750425733240263e-07, + -1.2028991136503464e-07, + 3.8900466847735515e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3931760787963867, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + -3.625463068601675e-05, + -4.780862372655292e-10, + -2.0540640299770985e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.758372445541227e-09, + -4.274729015207868e-09, + 4.470348358154297e-08 + ], + "angular_velocity": [ + 2.6649257733879494e-07, + -5.434209811028268e-07, + -3.9331766288341896e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -0.0462799072265625, + 0.4443349838256836, + 0.9179999828338623 + ], + "ori": [ + 0.9978426098823547, + 1.0456913113188193e-12, + -3.133686921064083e-10, + -0.06565254926681519 + ], + "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": [ + -1.688889561535234e-08, + 1.9788178207136298e-08, + 1.4528632164001465e-07 + ], + "angular_velocity": [ + -5.284142616801546e-07, + -1.7386718127454515e-06, + 3.649023483376368e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.6886301040649414, + 0.809992790222168, + 0.9179999828338623 + ], + "ori": [ + 0.6222732663154602, + 7.799471291036753e-08, + -4.77885464533756e-08, + 0.7828000783920288 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.357146524280324e-08, + -2.115909410349559e-06, + -4.395842552185059e-06 + ], + "angular_velocity": [ + 8.871431782608852e-05, + 6.33233503322117e-06, + -4.1946947249016375e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -1.3959970474243164, + 0.8632125854492188, + 0.9180000424385071 + ], + "ori": [ + -0.6503058075904846, + 5.695667049110398e-09, + 1.535410731889897e-08, + 0.7596725821495056 + ], + "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": [ + -6.5368546131594485e-09, + 1.5842228862084085e-08, + -5.807727575302124e-06 + ], + "angular_velocity": [ + -1.2594299505508388e-06, + -3.083541741943918e-07, + 1.1441727565397741e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.3846874237060547, + 1.1596927642822266, + 0.9179999828338623 + ], + "ori": [ + 0.013448669575154781, + -1.5710179823713588e-09, + -3.5296752187718994e-09, + 0.9999096393585205 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.141484323203713e-08, + -4.662798147592184e-08, + -9.201467037200928e-07 + ], + "angular_velocity": [ + 8.370266186830122e-07, + 1.4668870562672964e-06, + -5.908646372176918e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 3.9799999999999374, + "step": 796, + "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": 0.27082446593718346, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 733, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.20961323380470276, + -1.1324882507324219e-06, + 0.0 + ], + "carrier_2": [ + 1.5483594834804535, + 0.36925774812698364, + 0.0 + ], + "carrier_3": [ + -1.5411886274814606, + 0.4172552227973938, + 0.0 + ], + "carrier_4": [ + 0.24317607283592224, + 0.6999977231025696, + 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": [ + 0.7791149858693575, + 0.1848710893282529, + 2.838181585357317 + ], + "ori": [ + -1.152045045289805, + -8.821835605555133, + 2.7163742464067084 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6799.95548987672, + "color": [ + 0.8480098167440107, + 0.8949580628299161, + 0.7926077521630077 + ], + "intensity": 10694.353791711055, + "width": 2.1875154482105046, + "height": 1.4845818049497037 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.3440606011196079, + 0.8584886058839423, + 2.272703875539362 + ], + "ori": [ + -27.33976302167381, + 3.8708718496899763, + -12.309560556372674 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6004.671518565663, + "color": [ + 0.8284558013666357, + 0.9976007159504925, + 0.8883450882839545 + ], + "intensity": 9332.78427397096, + "radius": 0.4813040809409207 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1479.715887103038, + "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": [ + [ + 0.9141006469726562, + -1.719398021697998, + 2.0904998779296875, + -1.9419010877609253, + -1.5707999467849731, + 2.4848999977111816, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 1.0524182319641113, + -1.2892189025878906, + 2.262115716934204, + -2.543630838394165, + -1.5708452463150024, + 2.5893349647521973, + 0.007622925098985434, + 0.00702428724616766 + ], + [ + 0.9141026735305786, + -1.7193984985351562, + 2.0904996395111084, + -1.9419008493423462, + -1.5707999467849731, + 2.484900951385498, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141013026237488, + -1.7193982601165771, + 2.0904994010925293, + -1.9419007301330566, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ] + ], + "joint_vel": [ + [ + 2.886378321754072e-38, + -1.6209259344562957e-38, + -2.612999564868329e-38, + -5.257792910334031e-37, + 2.061997461996465e-37, + -2.806067888893828e-37, + 5.1980745041646514e-08, + -5.1980798332351696e-08 + ], + [ + -0.00022109357814770192, + 1.4021765309735201e-05, + -0.00016531991423107684, + -0.0020871118176728487, + 0.001795366988517344, + 0.007771623320877552, + -0.008251877501606941, + 0.00029851021827198565 + ], + [ + -3.3528268600157167e-38, + 1.7484536235394115e-38, + 0.0, + 3.91511984118597e-37, + -3.388667030058674e-37, + 3.7626904057685395e-37, + -5.310630830749249e-38, + 1.3012200821841587e-37 + ], + [ + 2.3024856980287466e-38, + -1.9630487506258068e-38, + 1.2889434744940247e-38, + -5.759031765829161e-37, + 5.793386223188303e-37, + -2.9935591571351915e-36, + -2.5990372520823257e-08, + 2.5990388508034812e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04603258892893791, + 0.0021163858473300934, + -0.02773510292172432, + -0.2871503233909607, + 0.6416305899620056, + 0.6530276536941528, + -0.2817974388599396 + ], + [ + 0.048096999526023865, + 0.0024671233259141445, + -0.029088802635669708, + -0.2788304090499878, + 0.6506556868553162, + 0.6386902928352356, + -0.3016214370727539 + ], + [ + 0.046125348657369614, + -0.0017838141648098826, + -0.029996531084179878, + -0.28786706924438477, + 0.6444701552391052, + 0.6530880331993103, + -0.2743479311466217 + ], + [ + 0.049294739961624146, + 0.0035593921784311533, + -0.03198954463005066, + -0.28530511260032654, + 0.6516885757446289, + 0.6460025906562805, + -0.2767374515533447 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e010/wrist.mp4 b/episodes/c6_p001_e010/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..309cfa4ba2048e54e767c8178a581f913f66a2de --- /dev/null +++ b/episodes/c6_p001_e010/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5c671dd236af2eecdcd56d1ef28a8c7a08347734219dd02f5ba655fd3c36bf8 +size 8580640 diff --git a/episodes/c6_p001_e011/data.npz b/episodes/c6_p001_e011/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..1279c6c15be401e13603e71035000158da6fd84e --- /dev/null +++ b/episodes/c6_p001_e011/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f29858a97291a52efe0f0b8dc4c21093a7389cf0eed19ae7f2afbf994681449 +size 203607 diff --git a/episodes/c6_p001_e011/device_events.jsonl b/episodes/c6_p001_e011/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3da6de3f68a375d3088cf9a64c5e159e7327cda4 --- /dev/null +++ b/episodes/c6_p001_e011/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 101, "t": 0.505, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 101, "t": 0.505, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 106, "t": 0.53, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6850, "t": 34.25, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 7460, "t": 37.3, "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": 7460, "t": 37.3, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.05069825565256}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7460, "t": 37.3, "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": 7460, "t": 37.3, "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": 7460, "t": 37.3, "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": 7879, "t": 39.395, "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": 7879, "t": 39.395, "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": 7879, "t": 39.395, "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": 7879, "t": 39.395, "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": 7879, "t": 39.395, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7879, "t": 39.395, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7879, "t": 39.395, "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": 7879, "t": 39.395, "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": 7879, "t": 39.395, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.05069825565256}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 8490, "t": 42.45, "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": 8490, "t": 42.45, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.055000000001563}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8490, "t": 42.45, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.055000000001563}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8490, "t": 42.45, "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": 8490, "t": 42.45, "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": 8490, "t": 42.45, "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": 8910, "t": 44.55, "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": 8910, "t": 44.55, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.062658038288646e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8910, "t": 44.55, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.062658038288646e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8910, "t": 44.55, "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": 8910, "t": 44.55, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8910, "t": 44.55, "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": 9491, "t": 47.455, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 11728, "t": 58.64, "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": 11728, "t": 58.64, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11728, "t": 58.64, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 11728, "t": 58.64, "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_p001_e011/env.mp4 b/episodes/c6_p001_e011/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1561cd6e2d1af3d72c4ae0ebda3c0ea731832b40 --- /dev/null +++ b/episodes/c6_p001_e011/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a04323b4783ffa9ad2cfd6d5ca813c648d6e28b150104f691c0d0577ada5b38 +size 1329591 diff --git a/episodes/c6_p001_e011/meta.json b/episodes/c6_p001_e011/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bd66095dbd9d4efd070d1f94d32f0a24836f3e3e --- /dev/null +++ b/episodes/c6_p001_e011/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/11", + "fps": 25, + "frames": 1268, + "kept_ticks": "even", + "video_frames": { + "wrist": 1268, + "env": 1268 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e011/scene_snapshot.json b/episodes/c6_p001_e011/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..26545c1f852a622aea8f60e094cc9325b05434d4 --- /dev/null +++ b/episodes/c6_p001_e011/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 11, + "env_id": 0, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5073986053466797, + 0.06928730010986328, + 0.8999999761581421 + ], + "ori": [ + -0.6957700252532959, + 0.0, + 0.0, + 0.718264639377594 + ], + "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": [ + 3.3641663673561473e-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": 0.28199888233810144, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.23662763437355308, + "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": 0.28199888233810144, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.05160236358642578, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + -8.808233360468876e-06, + -6.661545537411939e-09, + -1.3027237066864927e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1725767024017841e-09, + -6.937050378574838e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.8387360967153654e-08, + -1.1287773560297865e-07, + -1.4861539554544834e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6941118240356445, + 0.8497228622436523, + 0.8999999761581421 + ], + "ori": [ + 0.661376953125, + -1.2847502262047783e-07, + 5.611996911625283e-08, + 0.7500537037849426 + ], + "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": [ + 8.494341896536639e-10, + 2.8891750103454683e-10, + 0.0 + ], + "angular_velocity": [ + -3.606499632269333e-08, + 7.985001104771072e-08, + -1.935091198390637e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.08668899536132812, + 0.4486989974975586, + 0.8999999761581421 + ], + "ori": [ + 0.999877393245697, + 5.595601759722513e-10, + 1.6035183181273283e-09, + 0.015660101547837257 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.024775595607878e-10, + 3.814103477495223e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -9.092298114410369e-08, + -5.212663367615278e-08, + -1.0935774064080306e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2691001892089844, + 1.0689201354980469, + 0.8999999761581421 + ], + "ori": [ + -0.3261645436286926, + -8.126892936388685e-08, + 1.2180903752323502e-07, + 0.945313036441803 + ], + "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": [ + 7.432786475192188e-08, + -5.9236782590232906e-08, + 6.705522537231445e-08 + ], + "angular_velocity": [ + 2.4600694814580493e-06, + 2.9220125270512654e-06, + 6.655254765064456e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.05238914489746094, + 1.1419038772583008, + 0.9179999828338623 + ], + "ori": [ + -0.049935903400182724, + -5.717800011240115e-09, + -1.176990060969274e-09, + 0.9987524151802063 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4257966363118157e-08, + 1.538558791480682e-08, + 1.6391277313232422e-07 + ], + "angular_velocity": [ + -1.6552238548683817e-06, + 1.9132294255541638e-06, + -4.421645627417092e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 1.6894683837890625, + 0.8375158309936523, + 0.9180000424385071 + ], + "ori": [ + 0.6595528721809387, + -1.2782822977897013e-07, + 5.4749168754142374e-08, + 0.7516582012176514 + ], + "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": [ + 2.637625939883037e-08, + -6.349688774776041e-09, + -5.1371753215789795e-06 + ], + "angular_velocity": [ + 9.940334848579369e-07, + 1.2057397498210776e-06, + -1.4462720798746886e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -0.08407020568847656, + 0.4494028091430664, + 0.9180000424385071 + ], + "ori": [ + 0.9978606700897217, + -1.5944490172614678e-10, + 2.001911081350727e-09, + -0.0653776004910469 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5273794673476004e-08, + 1.457769016610655e-08, + -5.602836608886719e-06 + ], + "angular_velocity": [ + -6.748435907866224e-07, + -1.0375326837674947e-06, + 1.1821506973319629e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.2804088592529297, + 1.0659408569335938, + 0.9179999828338623 + ], + "ori": [ + -0.39672431349754333, + -6.112739470154338e-07, + 1.2658881587412907e-06, + 0.9179378151893616 + ], + "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": [ + 1.84138843906112e-05, + -5.9968328969262075e-06, + -9.078532457351685e-06 + ], + "angular_velocity": [ + 0.00031809089705348015, + 0.00044580164831131697, + 7.031173299765214e-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": 8.079999999999863, + "step": 1616, + "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": 3.3641663673561473e-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": 0.28199888233810144, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1514, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.0983976423740387, + 0.7000005841255188, + 0.0 + ], + "carrier_2": [ + 1.54411181807518, + 0.3997228741645813, + 0.0 + ], + "carrier_3": [ + -0.2366890013217926, + -0.0013009905815124512, + 0.0 + ], + "carrier_4": [ + -1.4191001951694489, + 0.6189201474189758, + 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": [ + 0.08349073989743416, + 0.28238400085267756, + 2.8193412453552797 + ], + "ori": [ + -7.562201314493845, + -4.28302290430978, + -5.1006096047211145 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5092.998193816951, + "color": [ + 0.8644166513767984, + 0.9970673463640349, + 0.9429847586661771 + ], + "intensity": 7816.936152399001, + "width": 1.708429864797682, + "height": 1.2441066739445397 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.5433814144743019, + 0.41049877576852567, + 2.4822627458746878 + ], + "ori": [ + 20.02082102599303, + 20.131131075955565, + 27.859808712540797 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4588.472544847444, + "color": [ + 0.7931779746918411, + 0.7622335549511382, + 0.8278632232657274 + ], + "intensity": 5095.610492586618, + "radius": 0.2300333399836485 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1479.715887103038, + "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": [ + [ + 0.9141021370887756, + -1.719399094581604, + 2.090500593185425, + -1.9419008493423462, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.733588218688965, + -1.8748012781143188, + 2.0593342781066895, + -1.755615472793579, + -1.5708647966384888, + 4.306931018829346, + 0.007677150424569845, + 0.006964141968637705 + ], + [ + 1.5769599676132202, + -1.971159815788269, + 2.30772066116333, + -1.9076635837554932, + -1.5707454681396484, + 3.225358724594116, + 0.007631155662238598, + 0.007074911613017321 + ], + [ + 1.1743718385696411, + -1.624754786491394, + 2.044522762298584, + -1.9915740489959717, + -1.570615291595459, + 2.695338249206543, + 0.008536579087376595, + 0.006802504416555166 + ] + ], + "joint_vel": [ + [ + -2.2199562249723365e-38, + 1.727781388333999e-38, + 0.0, + 6.330238238375169e-37, + -5.924706946954653e-37, + 2.3853045055868766e-36, + 2.5990376073536936e-08, + -2.599039738981901e-08 + ], + [ + 0.00894226972013712, + 0.023848624899983406, + -0.015809455886483192, + -0.0077655320055782795, + 2.8644219128182158e-05, + 0.00914305541664362, + -0.009047450497746468, + 0.00028921038028784096 + ], + [ + 0.07378219813108444, + -0.053943779319524765, + 0.0158640518784523, + 0.03538186475634575, + 0.00013097835471853614, + 0.06459707766771317, + -0.007506668567657471, + 0.0005382954841479659 + ], + [ + 0.05874715745449066, + -0.04237567260861397, + 0.00547363143414259, + 0.03823433071374893, + -0.0011701710755005479, + 0.051786940544843674, + -0.0014966235030442476, + 4.544741386780515e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04997101426124573, + -0.0017081907717511058, + -0.02631489560008049, + -0.2872869670391083, + 0.6463680267333984, + 0.6496464610099792, + -0.2786288261413574 + ], + [ + 0.05045483633875847, + 0.0016207287553697824, + -0.03156595677137375, + -0.2797943353652954, + 0.6539812684059143, + 0.6376426815986633, + -0.29569482803344727 + ], + [ + 0.04943257197737694, + -0.0013657972449436784, + -0.027991972863674164, + -0.2836904227733612, + 0.6487593054771423, + 0.6495522856712341, + -0.2769709825515747 + ], + [ + 0.050667040050029755, + 0.0026799184270203114, + -0.03371819481253624, + -0.2753135859966278, + 0.6527154445648193, + 0.6472293138504028, + -0.28153008222579956 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e011/wrist.mp4 b/episodes/c6_p001_e011/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f4c491e4838ec56796207b5500be7b8c66441b1a --- /dev/null +++ b/episodes/c6_p001_e011/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8c5b3dc4c929c51448167f4568c7439e56be3100dbad13d459c0301103bc761 +size 8353954 diff --git a/episodes/c6_p001_e012/data.npz b/episodes/c6_p001_e012/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..b79c64c628c69ab9100b1695f649662b6e3ff6ba --- /dev/null +++ b/episodes/c6_p001_e012/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb8baa2d7db0fd2f8a182e4273c220fa9eadd4fa26933f511863f618828062e4 +size 189289 diff --git a/episodes/c6_p001_e012/device_events.jsonl b/episodes/c6_p001_e012/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..83dfe402e8ee1ddce0443d228e8403d35f612eb2 --- /dev/null +++ b/episodes/c6_p001_e012/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 203, "t": 1.015, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 203, "t": 1.015, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 208, "t": 1.04, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 5666, "t": 28.33, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6280, "t": 31.4, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 6280, "t": 31.4, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.996947350707321}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6280, "t": 31.4, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 6280, "t": 31.4, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 6280, "t": 31.4, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 6699, "t": 33.495, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 6699, "t": 33.495, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 6699, "t": 33.495, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 6699, "t": 33.495, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 6699, "t": 33.495, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 6699, "t": 33.495, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6699, "t": 33.495, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 6699, "t": 33.495, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 18, "step": 6699, "t": 33.495, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.996947350707321}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7699, "t": 38.495, "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": 7699, "t": 38.495, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 5.000000000002558}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7699, "t": 38.495, "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": 5.000000000002558}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7699, "t": 38.495, "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": 7699, "t": 38.495, "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": 7699, "t": 38.495, "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": 8119, "t": 40.595, "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": 8119, "t": 40.595, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.552760500351141e-11}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8119, "t": 40.595, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.552760500351141e-11}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8119, "t": 40.595, "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": 8119, "t": 40.595, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8119, "t": 40.595, "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": 8699, "t": 43.495, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10420, "t": 52.1, "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": 10420, "t": 52.1, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10420, "t": 52.1, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10420, "t": 52.1, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c6_p001_e012/env.mp4 b/episodes/c6_p001_e012/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e14dff9e41b4c5fee86a1a68e524e5ee3a871928 --- /dev/null +++ b/episodes/c6_p001_e012/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81e66997eeead91e2ebc340facb25a4f922e4565314c8cda30493e699c189adf +size 1356680 diff --git a/episodes/c6_p001_e012/meta.json b/episodes/c6_p001_e012/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..041585c640a31c279b73de4e6b2dd5f4a2d4d491 --- /dev/null +++ b/episodes/c6_p001_e012/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/12", + "fps": 25, + "frames": 1264, + "kept_ticks": "even", + "video_frames": { + "wrist": 1264, + "env": 1264 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e012/scene_snapshot.json b/episodes/c6_p001_e012/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..4ad8edb806cf135c4116ccc87f55a76b0f72f1cb --- /dev/null +++ b/episodes/c6_p001_e012/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 12, + "env_id": 1, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_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": [ + 0.46108436584472656, + 0.05295372009277344, + 0.8999999761581421 + ], + "ori": [ + 0.7118666768074036, + 0.0, + 0.0, + -0.7023146152496338 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.046247707890528e-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": 0.16568401705665997, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.0469237136460417, + "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": 0.16568401705665997, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6260652542114258, + 1.1525506973266602, + 0.8999999761581421 + ], + "ori": [ + -0.00949818640947342, + 1.6665767377244123e-10, + -6.860011447784586e-10, + 0.9999549388885498 + ], + "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": [ + -1.2767258361634504e-09, + -2.6129580721345746e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.2734835763694718e-07, + -1.0526796501153513e-07, + -2.4682158539235388e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5244998931884766, + 1.1009292602539062, + 0.8999999761581421 + ], + "ori": [ + 0.2637249827384949, + 2.4694230660315952e-08, + -2.9664594336509253e-08, + 0.9645979404449463 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8194612483313222e-10, + -1.5471235403907713e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 3.060178599412211e-08, + 1.2924907366596017e-08, + -1.9742105727971193e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.10273265838623047, + 0.4463920593261719, + 0.8999999761581421 + ], + "ori": [ + 0.9999987483024597, + 4.853369262036722e-09, + -3.78575393256142e-09, + 0.0016042074421420693 + ], + "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": [ + 7.852734573710052e-10, + 4.600783920505336e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 6.109736716553016e-09, + 6.490743231779561e-08, + -1.4662971281609316e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2295007705688477, + 0.5018453598022461, + 0.8999999761581421 + ], + "ori": [ + -0.9626392126083374, + -2.0030203273790903e-08, + -3.575074813966239e-08, + 0.27078744769096375 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.2719270909021816e-09, + -8.57556692324124e-10, + 2.60770320892334e-08 + ], + "angular_velocity": [ + 2.530726987970411e-07, + 1.6884096964986384e-07, + -1.3938084464371059e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.6375331878662109, + 1.1579914093017578, + 0.9179999828338623 + ], + "ori": [ + -0.05527743697166443, + -9.857822336201139e-10, + -3.747897103778541e-09, + 0.9984711408615112 + ], + "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": [ + 1.2466625953777566e-08, + -2.0305627401739912e-08, + 1.7508864402770996e-07 + ], + "angular_velocity": [ + -4.5958432792758686e-07, + 1.9378949218662456e-06, + -3.681122962007066e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.5285835266113281, + 1.1038646697998047, + 0.9180000424385071 + ], + "ori": [ + 0.20061640441417694, + 2.2512065100954715e-08, + -3.4265376314124296e-08, + 0.9796699285507202 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4667376646571029e-08, + -1.943965166617545e-08, + -5.941838026046753e-06 + ], + "angular_velocity": [ + 5.739040602747991e-07, + 1.8782319557431038e-06, + 5.629958010899827e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.09114456176757812, + 0.4359922409057617, + 0.9179999828338623 + ], + "ori": [ + 0.9994938969612122, + 6.0421134762123074e-09, + -3.991865060726241e-09, + 0.03181261196732521 + ], + "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": [ + -2.7931323920427076e-09, + 1.4860123798143832e-08, + -5.796551704406738e-06 + ], + "angular_velocity": [ + 4.344514081822126e-07, + -1.6305818917317083e-06, + -2.5852767038259117e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.2421283721923828, + 0.5054960250854492, + 0.9179999828338623 + ], + "ori": [ + -0.9615064859390259, + -2.3632308554510928e-08, + -3.4228204270903007e-08, + 0.27478253841400146 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.31629262623801e-09, + -5.556795912298185e-09, + 2.421438694000244e-07 + ], + "angular_velocity": [ + -7.536203838753863e-08, + -1.8354104440732044e-06, + -1.0707324094028081e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 1.7999999999999836, + "step": 360, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.046247707890528e-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": 0.16568401705665997, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 156, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.4760652482509613, + 0.7025507092475891, + 0.0 + ], + "carrier_2": [ + 1.374499887228012, + 0.6509292721748352, + 0.0 + ], + "carrier_3": [ + -0.04726734757423401, + -0.00360792875289917, + 0.0 + ], + "carrier_4": [ + -1.3795007765293121, + 0.05184537172317505, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.8204963480947253, + -0.10353977225015026, + 2.950588049365347 + ], + "ori": [ + -4.419390137657226, + -12.694907327484497, + -22.058736290386264 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5505.544096841381, + "color": [ + 0.9142905627087883, + 0.8943495487410423, + 0.8853916976593631 + ], + "intensity": 4989.447234535344, + "width": 1.618432272981715, + "height": 1.085232031448099 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.0834808856399476, + -0.5352039112151203, + 2.0941265427418063 + ], + "ori": [ + -7.727449770723432, + 16.846263236234947, + -19.59548321835448 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5869.118865182684, + "color": [ + 0.9082645151350657, + 0.8513117283320811, + 0.853144142667043 + ], + "intensity": 5579.493801579838, + "radius": 0.09277203585257139 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1479.715887103038, + "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": [ + [ + 0.005510532297194004, + -2.2248172760009766, + 2.419590950012207, + -1.765576958656311, + -1.5706337690353394, + 4.290627479553223, + 0.006922005210071802, + 0.007746909745037556 + ], + [ + 0.9141008257865906, + -1.719398021697998, + 2.0904994010925293, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.098250389099121, + -1.4165265560150146, + 2.2171099185943604, + -2.3710107803344727, + -1.5703814029693604, + 2.6731581687927246, + 0.017999934032559395, + 0.01800006628036499 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.02644067257642746, + 0.012206790037453175, + -0.004604031331837177, + -0.006336559541523457, + -1.1790012649726123e-05, + -0.06106629967689514, + -0.006366355810314417, + -0.00035128011950291693 + ], + [ + 2.8790904487008115e-38, + 0.0, + -1.223222015997805e-38, + -6.656601323339682e-37, + 3.3489185825467762e-37, + 2.179928722884253e-37, + -2.494617310082783e-38, + -4.4586817218355324e-38 + ], + [ + -0.00032763852505013347, + -0.018762487918138504, + -0.008253212086856365, + 0.025452375411987305, + 0.00025590864242985845, + -0.00040152063593268394, + 6.2834255913912784e-06, + -6.306332124950131e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04914867505431175, + -0.0009475584956817329, + -0.027385380119085312, + -0.2888774871826172, + 0.6412206888198853, + 0.6513909101486206, + -0.2847380042076111 + ], + [ + 0.04787620157003403, + 0.0011186484480276704, + -0.030049998313188553, + -0.27407678961753845, + 0.6549898386001587, + 0.6380037069320679, + -0.2980293035507202 + ], + [ + 0.04650423303246498, + -0.004843041300773621, + -0.032581981271505356, + -0.2834092974662781, + 0.6510405540466309, + 0.649569571018219, + -0.2718173563480377 + ], + [ + 0.05083885043859482, + 0.0013210847973823547, + -0.034139834344387054, + -0.2836662530899048, + 0.6483451724052429, + 0.6476417779922485, + -0.28238654136657715 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e012/wrist.mp4 b/episodes/c6_p001_e012/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d97a426eb6068cbfc3ec73d08bfef3db1b336d0d --- /dev/null +++ b/episodes/c6_p001_e012/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb2f1637e3240f793253d59f069ea722364129149bd44f97a4e2bc3ae31e1251 +size 8340873 diff --git a/episodes/c6_p001_e013/data.npz b/episodes/c6_p001_e013/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..0fc046dcb214ac8a94cd12ee50e556e43bf5d98e --- /dev/null +++ b/episodes/c6_p001_e013/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23b1f4709e321b7a1fb66b5bcdb8d4907384715c24d12203227399cbe42a7b07 +size 185382 diff --git a/episodes/c6_p001_e013/device_events.jsonl b/episodes/c6_p001_e013/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ced27dbd5d1d49c7c081654414d5524acd8ef0aa --- /dev/null +++ b/episodes/c6_p001_e013/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 115, "t": 0.575, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 115, "t": 0.575, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 120, "t": 0.6, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6702, "t": 33.51, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7316, "t": 36.58, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 7316, "t": 36.58, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.282296789314585}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7316, "t": 36.58, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 7316, "t": 36.58, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 7316, "t": 36.58, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7735, "t": 38.675, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7735, "t": 38.675, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7735, "t": 38.675, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7735, "t": 38.675, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7735, "t": 38.675, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7735, "t": 38.675, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7735, "t": 38.675, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7735, "t": 38.675, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7735, "t": 38.675, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.282296789314585}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8192, "t": 40.96, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 8192, "t": 40.96, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.285000000001169}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8192, "t": 40.96, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.285000000001169}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8192, "t": 40.96, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 8192, "t": 40.96, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 8192, "t": 40.96, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8612, "t": 43.06, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8612, "t": 43.06, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8612, "t": 43.06, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8612, "t": 43.06, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8612, "t": 43.06, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8612, "t": 43.06, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 9190, "t": 45.95, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 10896, "t": 54.48, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 10896, "t": 54.48, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10896, "t": 54.48, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 10896, "t": 54.48, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c6_p001_e013/env.mp4 b/episodes/c6_p001_e013/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..387e149ebad2bd842280dc126f6874da86b6eac6 --- /dev/null +++ b/episodes/c6_p001_e013/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f28253ef212c4d3df072bf50a2646728903164767dd6bcb27379e6fa27b3cc4a +size 1279429 diff --git a/episodes/c6_p001_e013/meta.json b/episodes/c6_p001_e013/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c1a11a911a0bf754bf73d458f12dc073cd6f6a99 --- /dev/null +++ b/episodes/c6_p001_e013/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/13", + "fps": 25, + "frames": 1174, + "kept_ticks": "even", + "video_frames": { + "wrist": 1174, + "env": 1174 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e013/scene_snapshot.json b/episodes/c6_p001_e013/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..05769e6340415faa8a82898ae659506dcf9a8fa3 --- /dev/null +++ b/episodes/c6_p001_e013/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 13, + "env_id": 3, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.47048377990722656, + 0.05947589874267578, + 0.8999999761581421 + ], + "ori": [ + -0.6987550854682922, + 0.0, + 0.0, + 0.7153609991073608 + ], + "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": 0.29835658091974604, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.09315032329664086, + "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": 0.29835658091974604, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.0563812255859375, + 0.4464759826660156, + 0.8999999761581421 + ], + "ori": [ + 0.9999995231628418, + 1.9538619611125796e-09, + 2.865390813511226e-09, + 0.0009901747107505798 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.721116913548485e-10, + -6.83445433580232e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + 4.5911374968454766e-07, + 1.995385048303433e-07, + -1.655980419457137e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5458364486694336, + 0.5130815505981445, + 0.8999999761581421 + ], + "ori": [ + 0.9578776955604553, + -1.6547065229133295e-07, + 1.284351753838564e-07, + 0.2871766984462738 + ], + "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": [ + 1.2968897067366925e-09, + 1.020676654306385e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -9.21858145375154e-10, + 1.2875327115580149e-07, + -1.9683506380374638e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.0715932846069336, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + -1.2411534044076689e-05, + 7.299369442215209e-10, + 8.800183914914328e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.220169072676754e-11, + -1.5018375432163111e-09, + 0.0 + ], + "angular_velocity": [ + 8.146609786763293e-08, + -2.7881004172058965e-09, + 1.9448767041296833e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3959541320800781, + 0.762486457824707, + 0.8999999761581421 + ], + "ori": [ + -0.7392445206642151, + -1.3493720985024993e-07, + -3.1871152827989135e-08, + 0.6734371185302734 + ], + "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": [ + 1.9368018300269796e-10, + -1.0311020093300982e-10, + 0.0 + ], + "angular_velocity": [ + 8.63288107666449e-09, + 9.318078753040027e-09, + -7.145703473376841e-10 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.06974983215332031, + 0.4384613037109375, + 0.9179999828338623 + ], + "ori": [ + 0.9999973177909851, + 4.7686974369298696e-09, + 2.3037816099247266e-09, + -0.0023168278858065605 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.939083915658557e-08, + -6.366241933619676e-08, + 1.825392246246338e-07 + ], + "angular_velocity": [ + 1.5429419590873295e-06, + -1.9387214251764817e-06, + -1.3867136772205413e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 1.5324039459228516, + 0.5123662948608398, + 0.9180000424385071 + ], + "ori": [ + 0.9642646312713623, + -1.5395568198073306e-07, + -1.638955637872641e-09, + 0.2649410665035248 + ], + "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": [ + 4.70296527055325e-06, + 3.7922825413261307e-06, + -4.239380359649658e-06 + ], + "angular_velocity": [ + -3.660377478809096e-05, + 3.848711639875546e-05, + -2.9455095500452444e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -0.08121013641357422, + 1.158360481262207, + 0.9180000424385071 + ], + "ori": [ + 0.07444854080677032, + 3.469721732152209e-10, + -7.963464332405579e-10, + 0.9972249269485474 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8978870031105544e-08, + -2.590675052260849e-08, + -5.412846803665161e-06 + ], + "angular_velocity": [ + 6.573132509402058e-07, + 1.404098611601512e-06, + 1.420488615622162e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.3975400924682617, + 0.7463741302490234, + 0.9179999828338623 + ], + "ori": [ + -0.6870408654212952, + -1.302931877944502e-07, + -4.1346847723389146e-08, + 0.7266188263893127 + ], + "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": [ + -1.1825992629610482e-08, + 1.1955843604027905e-07, + -3.5762786865234375e-06 + ], + "angular_velocity": [ + -3.6929968700860627e-06, + -7.512326760661381e-07, + 4.1712340248523105e-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": 7.659999999999859, + "step": 1532, + "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": 0.29835658091974604, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1416, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.09361878037452698, + -0.00352400541305542, + 0.0 + ], + "carrier_2": [ + 1.3958364427089691, + 0.06308156251907349, + 0.0 + ], + "carrier_3": [ + -0.22159329056739807, + 0.6999967694282532, + 0.0 + ], + "carrier_4": [ + -1.5459541380405426, + 0.312486469745636, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.8218241465617228, + 0.5626009269428278, + 3.080815917816594 + ], + "ori": [ + 2.433282722690887, + 13.319513825318815, + -4.4665691447437155 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5019.87532323068, + "color": [ + 0.842436588939095, + 0.8269316910385217, + 0.9205441800935544 + ], + "intensity": 9606.37769565629, + "width": 1.9497266081947116, + "height": 1.3340350706781638 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.8256050558342434, + 1.420457442956632, + 2.4592994128722285 + ], + "ori": [ + -6.475552245648188, + 28.464446169656085, + 13.852735449669602 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6773.877494253358, + "color": [ + 0.9934526302536596, + 0.9473262585125878, + 0.7742592272953134 + ], + "intensity": 2807.2135689557945, + "radius": 0.11957209455049811 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1479.715887103038, + "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": [ + [ + 1.7720550298690796, + -1.2421271800994873, + 2.1472504138946533, + -2.4761440753936768, + -1.5695821046829224, + 0.15648490190505981, + 0.018000023439526558, + 0.017999975010752678 + ], + [ + 0.9106995463371277, + -1.4951735734939575, + 2.0285823345184326, + -2.1036536693573, + -1.5707694292068481, + 2.4209980964660645, + 0.006735765375196934, + 0.0070887175388634205 + ], + [ + 0.9141013026237488, + -1.7193975448608398, + 2.090498924255371, + -1.941900372505188, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.91410231590271, + -1.719398021697998, + 2.09049916267395, + -1.9419001340866089, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 0.00010530311556067318, + -0.012091852724552155, + -0.003936014603823423, + 0.015102160163223743, + -3.775892537305481e-06, + -1.0103752856593928e-06, + -6.76317495162948e-06, + 6.763361398043344e-06 + ], + [ + 0.03353264927864075, + -0.024562491104006767, + -0.0007067668484523892, + 0.019246364012360573, + 0.00044316070852801204, + 0.03522813692688942, + -0.009535057470202446, + -0.0006470615626312792 + ], + [ + 0.0, + -2.6842152343834736e-38, + -1.5070040126826953e-38, + -2.3930177904331307e-37, + 2.3825562566178673e-37, + 3.6468976384411884e-37, + -2.666795412913759e-38, + -3.3292665486753307e-38 + ], + [ + 3.405963752811658e-06, + -1.6749995487841396e-12, + -1.7305395397931855e-12, + 3.4059776226058602e-06, + -3.405978532100562e-06, + 9.90053850534467e-13, + 2.5990473773163103e-08, + -2.5990324559188593e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.047367677092552185, + 0.0011568941408768296, + -0.0293356254696846, + -0.28881844878196716, + 0.6460946798324585, + 0.6462653279304504, + -0.28545868396759033 + ], + [ + 0.04775669053196907, + 0.00010393264528829604, + -0.027651753276586533, + -0.2697369456291199, + 0.653576672077179, + 0.6419045329093933, + -0.29671213030815125 + ], + [ + 0.049797117710113525, + -0.002428347012028098, + -0.03128084912896156, + -0.28278401494026184, + 0.64899080991745, + 0.6515651941299438, + -0.2725928723812103 + ], + [ + 0.05182797461748123, + 0.003170565003529191, + -0.032162297517061234, + -0.2772406041622162, + 0.6480051875114441, + 0.6500422358512878, + -0.2840282917022705 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e013/wrist.mp4 b/episodes/c6_p001_e013/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b124f92452df7ba3dcc35025dcc0dec777d7c2ee --- /dev/null +++ b/episodes/c6_p001_e013/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e59dc27281ac018c6bfb7ba4fa1b91b8d61132067beab98e3af16ada006dc3a +size 6571943 diff --git a/episodes/c6_p001_e014/data.npz b/episodes/c6_p001_e014/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..c955c976bfbb91b22752418eb2aa10576910da79 --- /dev/null +++ b/episodes/c6_p001_e014/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df2d4036fb6462c085360d9d0e39b4e77fd5db17f304e9f20578c235c133216a +size 189677 diff --git a/episodes/c6_p001_e014/device_events.jsonl b/episodes/c6_p001_e014/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..84a31ab4d90b7c01646cba80cc8aeb9f98f1cdc0 --- /dev/null +++ b/episodes/c6_p001_e014/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 89, "t": 0.445, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 89, "t": 0.445, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 94, "t": 0.47, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 7319, "t": 36.595, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 7932, "t": 39.66, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 6, "step": 7932, "t": 39.66, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.3148158184108034}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7932, "t": 39.66, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 8, "step": 7932, "t": 39.66, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 7932, "t": 39.66, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 8351, "t": 41.755, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 8351, "t": 41.755, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 8351, "t": 41.755, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 8351, "t": 41.755, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 8351, "t": 41.755, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 8351, "t": 41.755, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 8351, "t": 41.755, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 17, "step": 8351, "t": 41.755, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 8351, "t": 41.755, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.3148158184108034}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 9014, "t": 45.07, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 9014, "t": 45.07, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.315000000001696}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 9014, "t": 45.07, "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": 3.315000000001696}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 9014, "t": 45.07, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 23, "step": 9014, "t": 45.07, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 9014, "t": 45.07, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 9434, "t": 47.17, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 9434, "t": 47.17, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.0363667968249501e-07}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 9434, "t": 47.17, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.0363667968249501e-07}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 9434, "t": 47.17, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 9434, "t": 47.17, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 9434, "t": 47.17, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 10014, "t": 50.07, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 11744, "t": 58.72, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 33, "step": 11744, "t": 58.72, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 11744, "t": 58.72, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 11744, "t": 58.72, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c6_p001_e014/env.mp4 b/episodes/c6_p001_e014/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0c95e145b5a75dac2203d82eb7d7de3407e3219e --- /dev/null +++ b/episodes/c6_p001_e014/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3edbb198f45fd2a6955738de2ad4e51f4bc50f3fb271ed53d4c6f1a15098772a +size 1281099 diff --git a/episodes/c6_p001_e014/meta.json b/episodes/c6_p001_e014/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ecd474ea0d41ed7a75e8328b19863f1dedc01f93 --- /dev/null +++ b/episodes/c6_p001_e014/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/14", + "fps": 25, + "frames": 1251, + "kept_ticks": "even", + "video_frames": { + "wrist": 1251, + "env": 1251 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e014/scene_snapshot.json b/episodes/c6_p001_e014/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..e08ed255ccbd8b5473aeb1f33edeb5fa952334f3 --- /dev/null +++ b/episodes/c6_p001_e014/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 14, + "env_id": 2, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 0.5043811798095703, + 0.1029367446899414, + 0.8999999761581421 + ], + "ori": [ + -0.6904402375221252, + 0.0, + 0.0, + 0.7233894467353821 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.3549153078950003e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.22686051537613533, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.07456118982372309, + "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": 0.22686051537613533, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.552983283996582, + 1.0838117599487305, + 0.8999999761581421 + ], + "ori": [ + 0.3061602711677551, + 9.325383842906376e-08, + -4.429903555092096e-08, + 0.9519799947738647 + ], + "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": [ + -1.0029244101872337e-10, + 1.5543477616120072e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 5.50311085589783e-09, + -2.5515625168281986e-08, + 5.150895709959968e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.08346271514892578, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + 2.03679664991796e-05, + 3.610708398937845e-10, + -5.4457220954873264e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4083856303415132e-10, + -7.068288176981241e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 3.243413004838658e-08, + 2.765577633567773e-08, + -2.311321356529561e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.0751962661743164, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -6.300032162620539e-10, + -1.499709662011739e-10, + -4.720066499430686e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.439912716312165e-10, + 1.1083665096833784e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -7.325417072934215e-08, + -3.143109950087819e-08, + -1.8205923435488103e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3469667434692383, + 0.9796733856201172, + 0.8999999761581421 + ], + "ori": [ + -0.4871818721294403, + 1.1755760453979747e-07, + 5.572226768890687e-08, + 0.8733005523681641 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.62097363601788e-07, + 9.383604719914729e-07, + -2.8833746910095215e-06 + ], + "angular_velocity": [ + -8.271838305518031e-05, + 5.719415275962092e-05, + 2.9889093866586336e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.5503129959106445, + 1.0789451599121094, + 0.9179999828338623 + ], + "ori": [ + 0.37670689821243286, + 9.551720836498134e-08, + -3.724722219544674e-08, + 0.9263325929641724 + ], + "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": [ + 2.3997742459869187e-08, + -4.249034546432995e-08, + 8.568167686462402e-08 + ], + "angular_velocity": [ + 5.087553063276573e-07, + 1.964102693818859e-06, + 2.698621131003165e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.09290027618408203, + 1.150507926940918, + 0.9180000424385071 + ], + "ori": [ + 0.086590476334095, + 9.419203195193404e-10, + -5.736774610909379e-09, + 0.9962440133094788 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4902317602150106e-08, + -1.9302154541378513e-08, + -5.3942203521728516e-06 + ], + "angular_velocity": [ + 3.0125315220175253e-07, + 1.5499033452215372e-06, + 8.075885915559411e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.08264732360839844, + 0.4469766616821289, + 0.9180000424385071 + ], + "ori": [ + 0.9971505999565125, + -9.977049186815634e-10, + -6.483673598012274e-10, + -0.07543686777353287 + ], + "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": [ + -1.3928565856247133e-08, + 2.1694955165685315e-08, + -5.498528480529785e-06 + ], + "angular_velocity": [ + -4.688155570420349e-07, + -1.5076590216267505e-06, + 1.1451052017719121e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.3474111557006836, + 0.9833154678344727, + 0.9179999828338623 + ], + "ori": [ + -0.49608755111694336, + 9.653257393438253e-08, + 4.994024038751377e-08, + 0.8682724833488464 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9270385109848576e-06, + 2.9433274448820157e-06, + -4.708766937255859e-06 + ], + "angular_velocity": [ + -8.350369171239436e-05, + 5.582396261161193e-05, + -3.467918077149079e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 8.879999999999988, + "step": 1776, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 2.3549153078950003e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.22686051537613533, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1686, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.4029832780361176, + 0.6338117718696594, + 0.0 + ], + "carrier_2": [ + -0.0665372908115387, + 0.6999977231025696, + 0.0 + ], + "carrier_3": [ + -0.07480373978614807, + 7.748603820800781e-07, + 0.0 + ], + "carrier_4": [ + -1.4969667494297028, + 0.5296733975410461, + 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 + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.5981466178572613, + -0.07312009662819358, + 2.6550647369514797 + ], + "ori": [ + 5.115882786286324, + 7.044140044341404, + -15.519591521354688 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6953.469296889072, + "color": [ + 0.8340399617272144, + 0.9175660707856929, + 0.8866263329528457 + ], + "intensity": 10251.31919685574, + "width": 1.5497832235085833, + "height": 1.8484833255077524 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.6999257161560013, + 1.1349535519630904, + 2.1369766931009044 + ], + "ori": [ + -10.518524543027592, + 38.32651022964734, + -24.866480505178814 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6096.4692529726535, + "color": [ + 0.8297550699931556, + 0.8179095368048113, + 0.9589877392821718 + ], + "intensity": 4187.227093460781, + "radius": 0.39894002747784096 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 566.623954553904, + "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 + ], + [ + 2.72186541557312, + -1.9063360691070557, + 1.9054094552993774, + -1.5688252449035645, + -1.5703004598617554, + 4.286070823669434, + 0.0072184675373137, + 0.006518734153360128 + ], + [ + 0.9141111373901367, + -1.7193949222564697, + 2.0904974937438965, + -1.9419004917144775, + -1.5707999467849731, + 2.4849064350128174, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.8458693623542786, + -1.3145647048950195, + 2.1617095470428467, + -2.4179627895355225, + -1.5708221197128296, + 2.42122745513916, + 0.007705945987254381, + 0.007058237213641405 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.009465722367167473, + 0.022611871361732483, + -0.014042251743376255, + -0.007849099114537239, + 4.05923456128221e-05, + 0.009527148678898811, + -0.01110928039997816, + -0.0004933815216645598 + ], + [ + -2.555144995950829e-38, + 2.9552381282909935e-38, + 2.961174589105259e-38, + 7.047187822690112e-37, + -7.3090606860411e-37, + 2.4648987964591365e-37, + 2.5990400942532688e-08, + -2.5990381402607454e-08 + ], + [ + 0.0002762803924269974, + -0.01841549202799797, + -0.007581428624689579, + 0.024452846497297287, + 0.0001772345567587763, + 0.00040969892870634794, + -0.008091420866549015, + 0.00027989636873826385 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04930673539638519, + -0.0003974409482907504, + -0.02765185944736004, + -0.283913254737854, + 0.647175133228302, + 0.6497360467910767, + -0.28000128269195557 + ], + [ + 0.04940167814493179, + 0.0019481972558423877, + -0.029330650344491005, + -0.2779791057109833, + 0.6547433733940125, + 0.6381321549415588, + -0.2946626842021942 + ], + [ + 0.04690415784716606, + -0.0008978188852779567, + -0.030109478160738945, + -0.28322479128837585, + 0.6472650170326233, + 0.6511002779006958, + -0.27730870246887207 + ], + [ + 0.04997137188911438, + 0.0025724966544657946, + -0.033556628972291946, + -0.28393813967704773, + 0.6486694812774658, + 0.6477510929107666, + -0.2811148762702942 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e014/wrist.mp4 b/episodes/c6_p001_e014/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a41374722f396c9ad884c94defdcf171c42caa69 --- /dev/null +++ b/episodes/c6_p001_e014/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2267c0e2cf19b23f0d6f2607e69b1933f9b492a4f0d102f9de98c90ac026475e +size 7098079 diff --git a/episodes/c6_p001_e015/data.npz b/episodes/c6_p001_e015/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..4b758f827ad531b41a184b9d66db6f64f2f0ed2b --- /dev/null +++ b/episodes/c6_p001_e015/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:360f9a84421479507dcd828f388567d30429dd7f66d948b5b8b0d6e194a47174 +size 191079 diff --git a/episodes/c6_p001_e015/device_events.jsonl b/episodes/c6_p001_e015/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..47a3e9a00e7a77f7a5a44ee7e7354f9989c83a50 --- /dev/null +++ b/episodes/c6_p001_e015/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 168, "t": 0.84, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 168, "t": 0.84, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 173, "t": 0.865, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 2170, "t": 10.85, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 7243, "t": 36.215, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 7856, "t": 39.28, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7856, "t": 39.28, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.957062369640392}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 7856, "t": 39.28, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 9, "step": 7856, "t": 39.28, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 10, "step": 7856, "t": 39.28, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 11, "step": 8275, "t": 41.375, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 12, "step": 8275, "t": 41.375, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 8275, "t": 41.375, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 8275, "t": 41.375, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 8275, "t": 41.375, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 8275, "t": 41.375, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 8275, "t": 41.375, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 18, "step": 8275, "t": 41.375, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 19, "step": 8275, "t": 41.375, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.957062369640392}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 9267, "t": 46.335, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 21, "step": 9267, "t": 46.335, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.9600000000025375}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 9267, "t": 46.335, "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": 4.9600000000025375}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 9267, "t": 46.335, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 24, "step": 9267, "t": 46.335, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 25, "step": 9267, "t": 46.335, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 26, "step": 9687, "t": 48.435, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 27, "step": 9687, "t": 48.435, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 9687, "t": 48.435, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 9687, "t": 48.435, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 9687, "t": 48.435, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 9687, "t": 48.435, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 10267, "t": 51.335, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 33, "step": 11988, "t": 59.94, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11988, "t": 59.94, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 11988, "t": 59.94, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 11988, "t": 59.94, "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_p001_e015/env.mp4 b/episodes/c6_p001_e015/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ca5cffaf338cf12928923b75238df2bcd0c0f4ab --- /dev/null +++ b/episodes/c6_p001_e015/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b45df91298ed3e6ae0b236f3c5a53788c24bfcdb7a3c6c4b924e4630a3eeff2b +size 1261818 diff --git a/episodes/c6_p001_e015/meta.json b/episodes/c6_p001_e015/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2b41256a46140ebff0c308b2b6f410a4f3925d55 --- /dev/null +++ b/episodes/c6_p001_e015/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/15", + "fps": 25, + "frames": 1283, + "kept_ticks": "even", + "video_frames": { + "wrist": 1283, + "env": 1283 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e015/scene_snapshot.json b/episodes/c6_p001_e015/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..bb5dc69d2ce64f823b181d3e485cd2de4db2ead6 --- /dev/null +++ b/episodes/c6_p001_e015/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 15, + "env_id": 0, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5073986053466797, + 0.06928730010986328, + 0.8999999761581421 + ], + "ori": [ + -0.6957700252532959, + 0.0, + 0.0, + 0.718264639377594 + ], + "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": [ + 2.0185001673583836e-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": 0.2491975799183133, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.13896921499399148, + "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": 0.2491975799183133, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0825128555297852, + 1.1456518173217773, + 0.8999999761581421 + ], + "ori": [ + -0.04926636815071106, + -2.9256041145231393e-08, + 3.5927971708815676e-09, + 0.998785674571991 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.924760599323008e-11, + 6.925678919245115e-10, + 0.0 + ], + "angular_velocity": [ + -7.408169722111779e-08, + -7.543969005041617e-09, + -1.396713633639024e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.010994911193847656, + 0.44745349884033203, + 0.8999999761581421 + ], + "ori": [ + 0.9999562501907349, + 1.520506165419988e-09, + 4.22896162532993e-10, + 0.009361553005874157 + ], + "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": [ + -2.8613165170554566e-09, + -5.076182141294794e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 1.4831695693828806e-07, + -2.0892566965358128e-07, + -5.1589843508281774e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.057018280029296875, + 1.152566909790039, + 0.8999999761581421 + ], + "ori": [ + -0.009232431650161743, + -1.2907941382422905e-10, + 1.8868979267949726e-08, + 0.9999573826789856 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.97161431414861e-10, + -1.3471046145241417e-07, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 3.567197381926235e-06, + 5.804739657833125e-07, + 6.387792836903827e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.590956687927246, + 0.5505304336547852, + 0.8999999761581421 + ], + "ori": [ + 0.930330753326416, + -2.7895850962522672e-08, + -1.0392353999577608e-07, + 0.3667217493057251 + ], + "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": [ + -5.202968509365746e-07, + -8.761360277276253e-07, + -1.993030309677124e-06 + ], + "angular_velocity": [ + 8.157517004292458e-05, + -4.0215880289906636e-05, + -1.8056034605251625e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -1.068136215209961, + 1.1554079055786133, + 0.9179999828338623 + ], + "ori": [ + -0.11765514314174652, + -2.694804202008072e-08, + 2.596613812855253e-09, + 0.9930545091629028 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4965850780868095e-08, + 1.9674187612395144e-08, + 6.332993507385254e-08 + ], + "angular_velocity": [ + -6.648231192230014e-07, + 1.0290151521985536e-06, + 7.573110138991979e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.005347251892089844, + 0.44206905364990234, + 0.9180000424385071 + ], + "ori": [ + 0.9999563097953796, + 1.0561751473403547e-09, + 6.647248862456934e-10, + 0.009349415078759193 + ], + "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": [ + -5.395146729370026e-08, + -3.446890062264174e-08, + -5.427747964859009e-06 + ], + "angular_velocity": [ + 7.600844469379808e-07, + -2.7531598334462615e-06, + 2.919088792907587e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -0.06189537048339844, + 1.1640815734863281, + 0.9180000424385071 + ], + "ori": [ + 0.04870743677020073, + -7.81277620376386e-09, + 5.195154244574951e-07, + 0.9988131523132324 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.7044961825595237e-06, + -9.45446481637191e-06, + -5.837529897689819e-06 + ], + "angular_velocity": [ + 0.00026277656434103847, + 9.634328307583928e-06, + 6.969974492676556e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.5872278213500977, + 0.5321512222290039, + 0.9179999828338623 + ], + "ori": [ + 0.897367537021637, + -6.765129256791624e-08, + -7.269855473168718e-08, + 0.44128385186195374 + ], + "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": [ + -1.3145195225661155e-06, + -2.7209598556510173e-06, + -4.030764102935791e-06 + ], + "angular_velocity": [ + 7.726227340754122e-05, + -3.4412376407999545e-05, + -2.035434590652585e-06 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 8.799999999999976, + "step": 1760, + "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": 2.0185001673583836e-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": 0.2491975799183133, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1591, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.2325128614902496, + 0.6956518292427063, + 0.0 + ], + "carrier_2": [ + -0.13900509476661682, + -0.0025464892387390137, + 0.0 + ], + "carrier_3": [ + -0.20701828598976135, + 0.702566921710968, + 0.0 + ], + "carrier_4": [ + 1.4409566819667816, + 0.10053044557571411, + 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": [ + 0.8036617157846905, + 0.31535863209865145, + 2.6509481202913463 + ], + "ori": [ + -9.408732825130691, + -8.89341622104393, + 24.678643267513728 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4842.7563277361205, + "color": [ + 0.8775638214663359, + 0.817471174352427, + 0.8495215169656184 + ], + "intensity": 15972.02965812777, + "width": 2.6911376701010097, + "height": 1.5994247417118408 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.7945654814739017, + 0.8759561716446973, + 2.7180859497096375 + ], + "ori": [ + 19.096804395007624, + 9.689621718536472, + 39.89310654571173 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4060.6080812284195, + "color": [ + 0.9558632126565094, + 0.804851780167008, + 0.9782429420441404 + ], + "intensity": 3098.8717649745995, + "radius": 0.22611562773134503 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 566.623954553904, + "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": [ + [ + 0.914106547832489, + -1.719396710395813, + 2.0905001163482666, + -1.9419022798538208, + -1.5707999467849731, + 2.4849023818969727, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 2.734243869781494, + -1.862847089767456, + 1.8850092887878418, + -1.5929234027862549, + -1.5707964897155762, + 4.286871910095215, + 0.017999980598688126, + 0.01800001785159111 + ], + [ + 1.1540987491607666, + -1.712722659111023, + 2.207813024520874, + -2.064903736114502, + -1.5709298849105835, + 2.841454267501831, + 0.008394910022616386, + 0.0064920224249362946 + ], + [ + 2.775015354156494, + -1.7826297283172607, + 1.8196309804916382, + -1.6097198724746704, + -1.5700585842132568, + 4.344765663146973, + 0.00775668490678072, + 0.007005689200013876 + ] + ], + "joint_vel": [ + [ + 3.405965117053711e-06, + -3.405956022106693e-06, + 6.811948424001457e-06, + -1.3394216291651162e-12, + 1.9793417122340728e-13, + 7.477012715570441e-13, + 1.64842437117875e-15, + -1.774935721402665e-13 + ], + [ + 0.008625742979347706, + 0.02126617543399334, + -0.013904932886362076, + -0.006537470500916243, + 1.1517250641190913e-05, + 0.008760476484894753, + 3.4035390399367316e-06, + -3.403175469429698e-06 + ], + [ + 0.06900547444820404, + -0.047929778695106506, + 0.021260177716612816, + 0.023469407111406326, + -0.0017994161462411284, + 0.04852909594774246, + -0.007029390893876553, + 0.0004411778354551643 + ], + [ + 0.006994002498686314, + 0.02156432531774044, + -0.01632983610033989, + -0.004927016329020262, + -0.000287220609607175, + 0.008052079007029533, + -0.009256983175873756, + 0.0003695296763908118 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04729616269469261, + 0.00110189791303128, + -0.029368076473474503, + -0.28329429030418396, + 0.6410018801689148, + 0.6544924378395081, + -0.28372621536254883 + ], + [ + 0.049622487276792526, + 0.00019825335766654462, + -0.029296236112713814, + -0.27983829379081726, + 0.6535937786102295, + 0.6423097848892212, + -0.28625836968421936 + ], + [ + 0.045926500111818314, + -0.0003403115551918745, + -0.028197983279824257, + -0.28236261010169983, + 0.6457650661468506, + 0.6534976959228516, + -0.27604275941848755 + ], + [ + 0.04857447370886803, + 0.0009634977905079722, + -0.03303730860352516, + -0.2866823673248291, + 0.6451334953308105, + 0.6493169069290161, + -0.28284895420074463 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e015/wrist.mp4 b/episodes/c6_p001_e015/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b2f3bee183f8dcbde63f2b9c209abf2517927264 --- /dev/null +++ b/episodes/c6_p001_e015/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4d12bd758889d833f83610d1c46b61227c7526962e9782534d33b853db95763 +size 7344349 diff --git a/episodes/c6_p001_e016/data.npz b/episodes/c6_p001_e016/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..d6b709a76c9f228ebf7c62b316e7cf17bd5efa7f --- /dev/null +++ b/episodes/c6_p001_e016/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9273dba12923a55ea5090f47fa4d137ca721034909978ed1554edd9c8cd41e8 +size 192006 diff --git a/episodes/c6_p001_e016/device_events.jsonl b/episodes/c6_p001_e016/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..63beafcecc8bd672124f48501b00b6fb60d353b6 --- /dev/null +++ b/episodes/c6_p001_e016/device_events.jsonl @@ -0,0 +1,40 @@ +{"env_id": 1, "seq": 1, "step": 84, "t": 0.42, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 84, "t": 0.42, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 89, "t": 0.445, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 856, "t": 4.28, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 917, "t": 4.585, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 949, "t": 4.745, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 7, "step": 1000, "t": 5.0, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 8, "step": 1030, "t": 5.15, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 6015, "t": 30.075, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 10, "step": 6628, "t": 33.14, "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": 11, "step": 6628, "t": 33.14, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.210973770522985}, "cause": "task-1-1"} +{"env_id": 1, "seq": 12, "step": 6628, "t": 33.14, "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": 13, "step": 6628, "t": 33.14, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 14, "step": 6628, "t": 33.14, "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": 15, "step": 7047, "t": 35.235, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 16, "step": 7047, "t": 35.235, "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": 17, "step": 7047, "t": 35.235, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 18, "step": 7047, "t": 35.235, "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": 19, "step": 7047, "t": 35.235, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 20, "step": 7047, "t": 35.235, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 21, "step": 7047, "t": 35.235, "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": 22, "step": 7047, "t": 35.235, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 23, "step": 7047, "t": 35.235, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.210973770522985}, "cause": "program-1-3"} +{"env_id": 1, "seq": 24, "step": 7490, "t": 37.45, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 25, "step": 7490, "t": 37.45, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.215000000001133}, "cause": "program-1-3"} +{"env_id": 1, "seq": 26, "step": 7490, "t": 37.45, "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": 2.215000000001133}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 27, "step": 7490, "t": 37.45, "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": 28, "step": 7490, "t": 37.45, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 29, "step": 7490, "t": 37.45, "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": 30, "step": 7910, "t": 39.55, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 31, "step": 7910, "t": 39.55, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.539724819339284e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 32, "step": 7910, "t": 39.55, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.539724819339284e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 33, "step": 7910, "t": 39.55, "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": 34, "step": 7910, "t": 39.55, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 35, "step": 7910, "t": 39.55, "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": 36, "step": 8491, "t": 42.455, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 37, "step": 10228, "t": 51.14, "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": 38, "step": 10228, "t": 51.14, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 39, "step": 10228, "t": 51.14, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 40, "step": 10228, "t": 51.14, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c6_p001_e016/env.mp4 b/episodes/c6_p001_e016/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..30cd826ff819a51caf3a1a1f660fc041ee0d9dd3 --- /dev/null +++ b/episodes/c6_p001_e016/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:966285e23165e4d6eb6fadce6cd2f008f0128c4a7d6c33178abcc5786457df86 +size 1222869 diff --git a/episodes/c6_p001_e016/meta.json b/episodes/c6_p001_e016/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..deeb1e1dc5159a64c398bad8c55930605e6dfd30 --- /dev/null +++ b/episodes/c6_p001_e016/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/16", + "fps": 25, + "frames": 1231, + "kept_ticks": "even", + "video_frames": { + "wrist": 1231, + "env": 1231 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e016/scene_snapshot.json b/episodes/c6_p001_e016/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..844e9a5cca955de504a95a16dd7049dee753bc25 --- /dev/null +++ b/episodes/c6_p001_e016/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 16, + "env_id": 1, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_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": [ + 0.46108436584472656, + 0.05295372009277344, + 0.8999999761581421 + ], + "ori": [ + 0.7118666768074036, + 0.0, + 0.0, + -0.7023146152496338 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.382663498948448e-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": 0.21084452446138982, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.05748836566119778, + "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": 0.21084452446138982, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1169729232788086, + 1.1500043869018555, + 0.8999999761581421 + ], + "ori": [ + -2.0019309886265546e-05, + 9.609683881972586e-11, + -3.01720226580926e-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": [ + -1.193662502174675e-09, + -3.030112827318021e-10, + 0.0 + ], + "angular_velocity": [ + 8.317564237358965e-08, + -8.728768818855315e-08, + -1.1309182035290632e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.09298896789550781, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.8458792272468827e-09, + -4.0831049652467755e-09, + -4.4404983782442287e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5309744583191787e-09, + 1.2211385236327033e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -6.356656001571537e-08, + 1.387205941227876e-07, + -1.3615592209248462e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2382545471191406, + 1.0912208557128906, + 0.8999999761581421 + ], + "ori": [ + -0.27655619382858276, + -2.9343031116013663e-08, + -4.6175912871149194e-08, + 0.9609978199005127 + ], + "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": [ + -2.8705926524708048e-11, + 7.13416170583514e-09, + 6.332993507385254e-08 + ], + "angular_velocity": [ + 6.756672519259155e-07, + 6.987647793721408e-07, + -1.6145614267770725e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5557546615600586, + 1.0818891525268555, + 0.8999999761581421 + ], + "ori": [ + 0.3105897605419159, + -1.1273664313193876e-07, + 7.954537295518094e-08, + 0.9505441188812256 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.0969066483189636e-09, + 1.726386367195687e-09, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -5.8818692139084305e-08, + 1.0203261524566187e-07, + 3.302264417470724e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.12311744689941406, + 1.1397027969360352, + 0.9179999828338623 + ], + "ori": [ + 0.003492291085422039, + 1.1737363303510051e-09, + -2.881308525104487e-10, + 0.9999939799308777 + ], + "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": [ + 2.1809878347767153e-08, + 1.995486265116142e-08, + 1.0058283805847168e-07 + ], + "angular_velocity": [ + -9.63883849181002e-07, + 1.607994818186853e-06, + 3.8807971947107944e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.09725189208984375, + 0.4496936798095703, + 0.9180000424385071 + ], + "ori": [ + 0.9984200596809387, + 2.733032022916859e-09, + -3.6622826993237823e-09, + -0.05619168281555176 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.914367827766e-09, + 1.31386812540768e-08, + -4.913657903671265e-06 + ], + "angular_velocity": [ + 5.794090540689467e-08, + -1.5935494275254314e-06, + 8.780410176711939e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.2304363250732422, + 1.1054840087890625, + 0.9179999828338623 + ], + "ori": [ + -0.20731110870838165, + -1.5104542683275213e-07, + 7.600866780421711e-08, + 0.9782751798629761 + ], + "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": [ + 4.3634436224238016e-06, + 3.985258899774635e-06, + -4.246830940246582e-07 + ], + "angular_velocity": [ + 2.7561666229303228e-06, + 1.8584521967568435e-05, + 2.447664155624807e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.571669578552246, + 1.0819072723388672, + 0.9179999828338623 + ], + "ori": [ + 0.36919349431991577, + -1.1650109144056842e-07, + 6.105710781412199e-08, + 0.9293525815010071 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.189486446648516e-08, + -4.814511811446209e-08, + 1.341104507446289e-07 + ], + "angular_velocity": [ + 1.7083671082218643e-06, + 2.1424912119982764e-06, + 1.5596549474139465e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 2.0999999999999774, + "step": 420, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.382663498948448e-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": 0.21084452446138982, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 335, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.033027082681655884, + 0.7000043988227844, + 0.0 + ], + "carrier_2": [ + -0.057011038064956665, + 7.748603820800781e-07, + 0.0 + ], + "carrier_3": [ + -1.388254553079605, + 0.6412208676338196, + 0.0 + ], + "carrier_4": [ + 1.4057546555995941, + 0.6318891644477844, + 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": [ + 0.011638165219638341, + -0.2854807834127004, + 3.0795878886587302 + ], + "ori": [ + -8.57445699697438, + 13.446934568655958, + -9.456149039874195 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6851.981536353935, + "color": [ + 0.9913638294915891, + 0.9516350030598604, + 0.8489132878677383 + ], + "intensity": 10566.21318847832, + "width": 1.8640612255992526, + "height": 1.7550508929069122 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.8715140749991575, + 0.1491070706334201, + 2.451264126289352 + ], + "ori": [ + -15.849215276998372, + -11.896140864006046, + -6.038558641326894 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 2960.8570506566593, + "color": [ + 0.8672818873131677, + 0.9749954468306179, + 0.8643345405423484 + ], + "intensity": 1738.8147827402404, + "radius": 0.12350204522967685 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 566.623954553904, + "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": [ + [ + -0.08802033215761185, + -2.178496837615967, + 2.3264942169189453, + -1.7189668416976929, + -1.5706725120544434, + 4.657383441925049, + 0.018000002950429916, + 0.01799999549984932 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + -0.23049917817115784, + -2.1362314224243164, + 2.3960704803466797, + -1.830580711364746, + -1.5708013772964478, + 4.437459468841553, + 0.007734023500233889, + 0.007064166013151407 + ], + [ + 1.4570927619934082, + -1.4683643579483032, + 2.2024452686309814, + -2.3060762882232666, + -1.5693734884262085, + 6.168139457702637, + 0.0180000402033329, + 0.017999958246946335 + ] + ], + "joint_vel": [ + [ + 4.257443606547895e-07, + -6.811852927057771e-06, + -6.811918410676299e-06, + -6.811950242990861e-06, + 3.4059783047268866e-06, + -5.8904500743230115e-15, + -5.1981576376647354e-08, + 5.1980947546326206e-08 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -0.00023356248857453465, + -0.0001158735467470251, + -0.0004319801810197532, + -3.999707769253291e-05, + -0.0006085772183723748, + 0.0013211047044023871, + -0.008425304666161537, + 0.000163803284522146 + ], + [ + 0.00013974768808111548, + -0.016792001202702522, + -0.010039860382676125, + 0.025557026267051697, + -5.973841325612739e-06, + -2.794221836666111e-05, + -7.974733307491988e-06, + 7.97734537627548e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.048420943319797516, + -0.0008786834077909589, + -0.027771806344389915, + -0.28082749247550964, + 0.6432254910469055, + 0.652245044708252, + -0.28630974888801575 + ], + [ + 0.04920949041843414, + 0.0035231653600931168, + -0.028713587671518326, + -0.27916252613067627, + 0.653732180595398, + 0.6380885243415833, + -0.2958809733390808 + ], + [ + 0.04631919413805008, + 0.00048823613906279206, + -0.027191944420337677, + -0.28139689564704895, + 0.6490290760993958, + 0.6510949730873108, + -0.27504974603652954 + ], + [ + 0.05057719349861145, + 0.0034271026961505413, + -0.03012975864112377, + -0.2864539325237274, + 0.6470985412597656, + 0.6472378969192505, + -0.2833561897277832 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e016/wrist.mp4 b/episodes/c6_p001_e016/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bfeb92ed171897144e446cc1a1733200cd14cb0e --- /dev/null +++ b/episodes/c6_p001_e016/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0a178315aca2f5bc249754e6cb6f64a399512b81885b19f114260db1b0feea6 +size 6931862 diff --git a/episodes/c6_p001_e017/data.npz b/episodes/c6_p001_e017/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..46601bc30ca18fa3a4a9308d21572b575a10754e --- /dev/null +++ b/episodes/c6_p001_e017/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18a2c31366954ceeb71bc1dcbec2a04d151ed907744c4be4995828440b7545f6 +size 203393 diff --git a/episodes/c6_p001_e017/device_events.jsonl b/episodes/c6_p001_e017/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0c7e89789d489bcaef655f2e58d7fff0ce601c65 --- /dev/null +++ b/episodes/c6_p001_e017/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 97, "t": 0.485, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 97, "t": 0.485, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 102, "t": 0.51, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6382, "t": 31.91, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6996, "t": 34.98, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 6996, "t": 34.98, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.204360397717442}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6996, "t": 34.98, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 6996, "t": 34.98, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6996, "t": 34.98, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7415, "t": 37.075, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7415, "t": 37.075, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7415, "t": 37.075, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7415, "t": 37.075, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7415, "t": 37.075, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7415, "t": 37.075, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7415, "t": 37.075, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7415, "t": 37.075, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7415, "t": 37.075, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.204360397717442}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8256, "t": 41.28, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 8256, "t": 41.28, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.205000000002151}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8256, "t": 41.28, "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": 4.205000000002151}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8256, "t": 41.28, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 8256, "t": 41.28, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 8256, "t": 41.28, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8676, "t": 43.38, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8676, "t": 43.38, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.089243249045694e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8676, "t": 43.38, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.089243249045694e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8676, "t": 43.38, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8676, "t": 43.38, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8676, "t": 43.38, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 9254, "t": 46.27, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 11488, "t": 57.44, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 11488, "t": 57.44, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11488, "t": 57.44, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11488, "t": 57.44, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c6_p001_e017/env.mp4 b/episodes/c6_p001_e017/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ce683103b6ccbc27d66d73671d86aac505afe250 --- /dev/null +++ b/episodes/c6_p001_e017/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d38cf3a56d499d753fd14d4be62fbde13f1a757661f05668564284566532b2b +size 1368392 diff --git a/episodes/c6_p001_e017/meta.json b/episodes/c6_p001_e017/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9311f263f816a860e93e084b73250f3db4719550 --- /dev/null +++ b/episodes/c6_p001_e017/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/17", + "fps": 25, + "frames": 1317, + "kept_ticks": "even", + "video_frames": { + "wrist": 1317, + "env": 1317 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e017/scene_snapshot.json b/episodes/c6_p001_e017/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..193949cc9ee974fd9c31819573898996adb063b3 --- /dev/null +++ b/episodes/c6_p001_e017/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 17, + "env_id": 3, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.47048377990722656, + 0.05947589874267578, + 0.8999999761581421 + ], + "ori": [ + -0.6987550854682922, + 0.0, + 0.0, + 0.7153609991073608 + ], + "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": [ + 1.3456668505190672e-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": 0.29629322996067686, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1892909087298586, + "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": 0.29629322996067686, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6937732696533203, + 0.7489261627197266, + 0.8999999761581421 + ], + "ori": [ + 0.7636615633964539, + 1.1500096519512226e-07, + -1.1966086788106622e-07, + 0.6456167101860046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0552032581045978e-09, + -2.0923196508704223e-10, + 0.0 + ], + "angular_velocity": [ + 1.0125400962124331e-08, + -3.023640715582587e-08, + -1.094905854870376e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.039775848388671875, + 0.4495706558227539, + 0.8999999761581421 + ], + "ori": [ + 0.9999882578849792, + -2.140902732872263e-10, + -1.129805138333495e-09, + 0.0048456438817083836 + ], + "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": [ + 3.3612890248946314e-11, + 2.1252952731032337e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -8.766059522713476e-08, + -5.387047252725097e-09, + 6.827105991646931e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4349403381347656, + 1.152618408203125, + 0.8999999761581421 + ], + "ori": [ + -0.007873689755797386, + 8.504119630714513e-11, + -1.0052595422749278e-09, + 0.9999690055847168 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0159784125107763e-10, + 1.6347754261403225e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.4304652040664223e-07, + 8.783775484744183e-08, + 1.534263738278696e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1769275665283203, + 1.1225852966308594, + 0.8999999761581421 + ], + "ori": [ + -0.1764948070049286, + 9.206539886008613e-08, + 7.984277772266068e-08, + 0.9843016266822815 + ], + "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": [ + 2.8973090593353845e-10, + -5.846459316671826e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -7.824564818292856e-08, + 8.466304279863834e-08, + 2.535261955927126e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.6849775314331055, + 0.743077278137207, + 0.9179999828338623 + ], + "ori": [ + 0.8071596026420593, + 1.2467124577142386e-07, + -1.1147391631993742e-07, + 0.5903333425521851 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.863207899077679e-08, + -2.117406872059746e-08, + 7.82310962677002e-08 + ], + "angular_velocity": [ + 1.7383746353516472e-06, + 3.182332193318871e-07, + 1.603257260285318e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.039699554443359375, + 0.4392261505126953, + 0.9180000424385071 + ], + "ori": [ + 0.9983412027359009, + -1.3436817214440566e-09, + -1.905873237006972e-09, + -0.057574257254600525 + ], + "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": [ + -1.8390490907904677e-08, + 3.44094814863638e-08, + -5.103647708892822e-06 + ], + "angular_velocity": [ + -1.0231299256702187e-06, + -1.6038516150729265e-06, + 1.3950169375220867e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.4287137985229492, + 1.1423654556274414, + 0.9180000424385071 + ], + "ori": [ + 0.0780160129070282, + 6.379087813535023e-10, + -5.138727221520867e-10, + 0.9969521164894104 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.2986871073271686e-08, + 3.7140608810659614e-08, + -5.5283308029174805e-06 + ], + "angular_velocity": [ + -1.2255782166903373e-06, + 2.381943431828404e-06, + 8.677783824850849e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.1829252243041992, + 1.1302261352539062, + 0.9179999828338623 + ], + "ori": [ + -0.16624948382377625, + 1.0045351928056334e-07, + 8.691864650245407e-08, + 0.9860837459564209 + ], + "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": [ + 1.9124217942589894e-07, + 9.772986686584773e-08, + 1.6763806343078613e-07 + ], + "angular_velocity": [ + -1.1254487617406994e-06, + 4.380701284389943e-06, + 3.2440362929264666e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 4.919999999999917, + "step": 984, + "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": 1.3456668505190672e-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": 0.29629322996067686, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 886, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5437732636928558, + 0.2989261746406555, + 0.0 + ], + "carrier_2": [ + -0.18977585434913635, + -0.00042933225631713867, + 0.0 + ], + "carrier_3": [ + 0.28494033217430115, + 0.702618420124054, + 0.0 + ], + "carrier_4": [ + -1.3269275724887848, + 0.6725853085517883, + 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": [ + -0.24424850130036346, + 0.3323391590628464, + 3.034244626543879 + ], + "ori": [ + 14.164874854765785, + -8.602631972043774, + -21.42942172406508 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6785.605233090603, + "color": [ + 0.8542417594512468, + 0.9551317443495386, + 0.902488920278309 + ], + "intensity": 7620.240801814436, + "width": 2.426754219219683, + "height": 1.0243880329607233 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.0851594613433355, + -0.2286537533654308, + 2.1411031549325097 + ], + "ori": [ + -37.956523756604106, + -25.782007912989975, + 27.17046714942633 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7107.761565627157, + "color": [ + 0.9115967747330673, + 0.9124649084714486, + 0.8084936334540151 + ], + "intensity": 6579.07035604541, + "radius": 0.339485081358401 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 566.623954553904, + "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": [ + [ + -0.0875629261136055, + -1.9254322052001953, + 2.651641368865967, + -2.29707932472229, + -1.5707192420959473, + 4.660266399383545, + 0.007709551602602005, + 0.006877313368022442 + ], + [ + 0.7991123795509338, + -1.4523931741714478, + 2.042161464691162, + -2.1600184440612793, + -1.5707370042800903, + 2.4823083877563477, + 0.008150981739163399, + 0.0065768007189035416 + ], + [ + 1.416143774986267, + -1.321336269378662, + 2.264686107635498, + -2.51412034034729, + -1.5709543228149414, + 6.127379417419434, + 0.01800001971423626, + 0.017999978736042976 + ], + [ + 0.9141008853912354, + -1.7193974256515503, + 2.090498924255371, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ] + ], + "joint_vel": [ + [ + -0.0005203813780099154, + 5.059672548668459e-05, + 0.0009546882356517017, + 0.00013592158211395144, + -0.0028304923325777054, + 0.006348371040076017, + -0.0109127601608634, + 0.0004579867818392813 + ], + [ + 0.00019619634258560836, + -0.0008827928686514497, + -0.0030224050860852003, + 0.001090877689421177, + -0.0004323571629356593, + -0.0015745674027130008, + -0.0076799942180514336, + 0.00028054072754457593 + ], + [ + 0.00011148027988383546, + -0.013546938076615334, + -0.004334904253482819, + 0.017001846805214882, + -3.6997626011725515e-06, + 2.6619329219101928e-05, + -7.166839168348815e-06, + 7.168081992858788e-06 + ], + [ + 2.826722523790529e-38, + -1.6421463576209521e-38, + 1.5539671294160772e-38, + -5.007662255490823e-37, + 4.2353454630844945e-37, + -2.9387811670220857e-37, + -2.5990386731677972e-08, + 2.5990384955321133e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04819845035672188, + 0.0010830749524757266, + -0.02849443629384041, + -0.2799869775772095, + 0.6459047794342041, + 0.65109783411026, + -0.2837004065513611 + ], + [ + 0.04908047243952751, + -0.0002781731600407511, + -0.028300531208515167, + -0.27948370575904846, + 0.6527719497680664, + 0.637210488319397, + -0.2995671033859253 + ], + [ + 0.04795609042048454, + -0.0028032995760440826, + -0.03163731098175049, + -0.2835799753665924, + 0.6445040702819824, + 0.6534156203269958, + -0.2779296934604645 + ], + [ + 0.05182575061917305, + 0.0032090586610138416, + -0.0318143293261528, + -0.28716543316841125, + 0.6477366089820862, + 0.6469096541404724, + -0.28192415833473206 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e017/wrist.mp4 b/episodes/c6_p001_e017/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..38e8cc235bcdbc5dc05844efc1333ba8fd6dac6d --- /dev/null +++ b/episodes/c6_p001_e017/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf25661913ed1fa5d615f0d69bae7461db8fae144ca036766ab0b6dd66868a27 +size 7209429 diff --git a/episodes/c6_p001_e018/data.npz b/episodes/c6_p001_e018/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..8b273d45a3aa2582c0d4a4613528da55900d152d --- /dev/null +++ b/episodes/c6_p001_e018/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e65c30934652ce59da9709e8a43ad2b8052d40441efae70b7e4ada7f977ae74 +size 190776 diff --git a/episodes/c6_p001_e018/device_events.jsonl b/episodes/c6_p001_e018/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a98f1409728848c5dced81e8e6703e4cc02f3cc --- /dev/null +++ b/episodes/c6_p001_e018/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 107, "t": 0.535, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 107, "t": 0.535, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 112, "t": 0.56, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6279, "t": 31.395, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6892, "t": 34.46, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 6, "step": 6892, "t": 34.46, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.280807983586665}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6892, "t": 34.46, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 8, "step": 6892, "t": 34.46, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 6892, "t": 34.46, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 7311, "t": 36.555, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 7311, "t": 36.555, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 7311, "t": 36.555, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7311, "t": 36.555, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7311, "t": 36.555, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7311, "t": 36.555, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7311, "t": 36.555, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 17, "step": 7311, "t": 36.555, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 7311, "t": 36.555, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.280807983586665}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7968, "t": 39.84, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 7968, "t": 39.84, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.2850000000016806}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7968, "t": 39.84, "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": 3.2850000000016806}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7968, "t": 39.84, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 23, "step": 7968, "t": 39.84, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 7968, "t": 39.84, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 8388, "t": 41.94, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 8388, "t": 41.94, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.3650614799919367e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8388, "t": 41.94, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.3650614799919367e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8388, "t": 41.94, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8388, "t": 41.94, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8388, "t": 41.94, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8971, "t": 44.855, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 10748, "t": 53.74, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 33, "step": 10748, "t": 53.74, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10748, "t": 53.74, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10748, "t": 53.74, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c6_p001_e018/env.mp4 b/episodes/c6_p001_e018/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b12227f78430dbb251423ecd9f521b179faed6c7 --- /dev/null +++ b/episodes/c6_p001_e018/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b6ac6298075512fd07f79f6ec3f72dd4946c754afb8a202c05aa13f419eb45c +size 1181799 diff --git a/episodes/c6_p001_e018/meta.json b/episodes/c6_p001_e018/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a36c84d4d13ba5cfd6fa67207bdd2056dabc6a9e --- /dev/null +++ b/episodes/c6_p001_e018/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/18", + "fps": 25, + "frames": 1230, + "kept_ticks": "even", + "video_frames": { + "wrist": 1230, + "env": 1230 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e018/scene_snapshot.json b/episodes/c6_p001_e018/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..1d9f915a4e1390b21ad4182fed4f612f22120fc8 --- /dev/null +++ b/episodes/c6_p001_e018/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 18, + "env_id": 2, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 0.5043811798095703, + 0.1029367446899414, + 0.8999999761581421 + ], + "ori": [ + -0.6904402375221252, + 0.0, + 0.0, + 0.7233894467353821 + ], + "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": 0.28996320416141164, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.12281964601203815, + "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": 0.28996320416141164, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.1518411636352539, + 1.1500015258789062, + 0.8999999761581421 + ], + "ori": [ + -5.189714556763647e-06, + 7.474643126670344e-11, + -3.1282237911156585e-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": [ + 6.8949213005709e-10, + -1.167927310419259e-09, + 0.0 + ], + "angular_velocity": [ + 1.391499608871527e-07, + 7.511620481182035e-08, + -9.722482374741048e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6938238143920898, + 0.7491073608398438, + 0.8999999761581421 + ], + "ori": [ + 0.7644110321998596, + -8.439741350230179e-09, + -2.433040435789735e-08, + 0.6447293162345886 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.29501117385189e-07, + -1.0841550874829409e-06, + -2.8908252716064453e-06 + ], + "angular_velocity": [ + 8.63479363033548e-05, + -2.1903204469708726e-05, + -2.1741761884186417e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.026946067810058594, + 0.4499950408935547, + 0.8999999761581421 + ], + "ori": [ + 0.9999999403953552, + 3.616899890701575e-09, + 2.0028978475750137e-09, + 0.00034944515209645033 + ], + "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": [ + 5.722783358308448e-10, + 1.2077311373204225e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -8.901971426666933e-08, + 3.881647714365499e-08, + -2.8080873182290134e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0781822204589844, + 1.1465644836425781, + 0.8999999761581421 + ], + "ori": [ + -0.03528592362999916, + 5.368801225813513e-08, + 1.3869865256310732e-08, + 0.9993773102760315 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.8357151616329475e-11, + -5.905403388517527e-10, + 0.0 + ], + "angular_velocity": [ + 4.516251195241239e-08, + 8.030504261569149e-09, + 9.689724578265668e-10 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -0.14981651306152344, + 1.1502552032470703, + 0.9179999828338623 + ], + "ori": [ + -0.10235060751438141, + -1.2245171543412425e-09, + 1.7055923340336676e-10, + 0.9947484135627747 + ], + "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": [ + 2.9304320747769452e-08, + 7.097161081048853e-09, + 7.82310962677002e-08 + ], + "angular_velocity": [ + -4.6793098817943246e-07, + 1.3960535625301418e-06, + 1.1197261073903064e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.7008848190307617, + 0.7312679290771484, + 0.9179999828338623 + ], + "ori": [ + 0.6959764957427979, + -2.384872743732558e-08, + -2.3184142605714442e-08, + 0.718064546585083 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.208197310617834e-07, + -2.1315070171112893e-06, + -8.646398782730103e-06 + ], + "angular_velocity": [ + 8.572344813728705e-05, + -2.0735433281515725e-05, + -2.1818359527969733e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.019670486450195312, + 0.4501008987426758, + 0.9180000424385071 + ], + "ori": [ + 0.9987199902534485, + 2.7173283623227462e-09, + 1.714749453540776e-09, + -0.05058122053742409 + ], + "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": [ + -1.0705081265882654e-08, + 1.635579138792309e-08, + -5.587935447692871e-06 + ], + "angular_velocity": [ + -8.592891020953175e-08, + -1.422672198714281e-06, + 7.842930926926783e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.0900154113769531, + 1.1402578353881836, + 0.9179999828338623 + ], + "ori": [ + -0.09626748412847519, + 6.317233669506095e-08, + -9.77726966056025e-09, + 0.995355486869812 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.657041033506175e-08, + 2.0286498170207778e-07, + -1.3783574104309082e-06 + ], + "angular_velocity": [ + -1.0134670446859673e-05, + 1.0086077963933349e-06, + 5.194216896597936e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 4.699999999999922, + "step": 940, + "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": 0.28996320416141164, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 832, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.3018411695957184, + 0.7000015377998352, + 0.0 + ], + "carrier_2": [ + 1.5438238084316254, + 0.2991073727607727, + 0.0 + ], + "carrier_3": [ + -0.12305393815040588, + -4.947185516357422e-06, + 0.0 + ], + "carrier_4": [ + -1.2281822264194489, + 0.6965644955635071, + 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 + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.2365571643979546, + 0.04638629863447641, + 2.6437572164920726 + ], + "ori": [ + 14.440663875604454, + 3.508214053699078, + -13.686736734977835 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7139.442953314949, + "color": [ + 0.9025407055920159, + 0.8446388279239151, + 0.9532977742757855 + ], + "intensity": 10580.533916648135, + "width": 2.420175439996914, + "height": 1.4575187462243409 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.4387585461058987, + 1.2361746903736222, + 2.0802987243491518 + ], + "ori": [ + 37.14103565702578, + 29.732590802992178, + -34.815441400854674 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4753.263731888516, + "color": [ + 0.7624296704722399, + 0.8330121277675944, + 0.9215699172761334 + ], + "intensity": 2923.791666227249, + "radius": 0.36635020541902497 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 566.623954553904, + "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": [ + [ + 1.5609948635101318, + -1.4261877536773682, + 2.1900408267974854, + -2.33524489402771, + -1.570575475692749, + 6.253327369689941, + 0.007603039499372244, + 0.006979356519877911 + ], + [ + 2.799509048461914, + -1.405908465385437, + 2.237889528274536, + -2.402806043624878, + -1.5703356266021729, + 4.371308326721191, + 0.01800002157688141, + 0.017999976873397827 + ], + [ + 0.9141029119491577, + -1.7193981409072876, + 2.09049916267395, + -1.9419001340866089, + -1.5707999467849731, + 2.4849002361297607, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.028411865234375, + -1.5946882963180542, + 2.1926310062408447, + -2.168745756149292, + -1.5707796812057495, + 2.7145328521728516, + 0.007583069149404764, + 0.0072792815044522285 + ] + ], + "joint_vel": [ + [ + -0.00020356255117803812, + 0.016726838424801826, + 0.009389801882207394, + -0.02453221008181572, + 4.015379454358481e-05, + 0.0002933009818661958, + -0.007992067374289036, + 0.00025713109062053263 + ], + [ + -0.004412279464304447, + -0.01240553054958582, + 0.015373704954981804, + -0.003014987800270319, + -6.817363555455813e-06, + -0.004468826577067375, + -2.085481355607044e-06, + 2.085470669044298e-06 + ], + [ + -2.7247906721970773e-38, + 3.0088988911644624e-38, + 2.93478982058018e-38, + 3.3282044765432496e-37, + -7.1346745852458565e-37, + 2.6409778900070385e-37, + 2.5990386731677972e-08, + -2.5990388508034812e-08 + ], + [ + 0.00010692633804865181, + -2.6520638130023144e-05, + -0.00028135895263403654, + 0.0004716477997135371, + -0.0002859687665477395, + -0.001553068752400577, + -0.0050094458274543285, + -0.0014647762291133404 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04981226101517677, + -5.5157091992441565e-05, + -0.02697034180164337, + -0.2840650975704193, + 0.649226725101471, + 0.6484081745147705, + -0.2781699001789093 + ], + [ + 0.04913778975605965, + 0.00431534368544817, + -0.03020516410470009, + -0.2776361405849457, + 0.652556300163269, + 0.6378660202026367, + -0.30035874247550964 + ], + [ + 0.049639638513326645, + -0.0037628007121384144, + -0.029237234964966774, + -0.28249889612197876, + 0.6469661593437195, + 0.6530832052230835, + -0.27406468987464905 + ], + [ + 0.04930061101913452, + 0.003973838873207569, + -0.03431781753897667, + -0.28124675154685974, + 0.6502463817596436, + 0.6460110545158386, + -0.28416478633880615 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e018/wrist.mp4 b/episodes/c6_p001_e018/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1ac90e92d37b286218f93523e73792c554fe8968 --- /dev/null +++ b/episodes/c6_p001_e018/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eedb4bb9de308d20fb2e65dce41d93762d1bacf60a7ae9a96c738337a5d9d345 +size 6669976 diff --git a/episodes/c6_p001_e019/data.npz b/episodes/c6_p001_e019/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..74d8674771bbdbcdc756fc7620604f054b6664b8 --- /dev/null +++ b/episodes/c6_p001_e019/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c60b95f77829bbb0b24df0ae75a0b9a43060b88141a598648013d876f31eb7c +size 190250 diff --git a/episodes/c6_p001_e019/device_events.jsonl b/episodes/c6_p001_e019/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..85fe1a2b9cc8c325726d7b7a3282077582940e09 --- /dev/null +++ b/episodes/c6_p001_e019/device_events.jsonl @@ -0,0 +1,40 @@ +{"env_id": 0, "seq": 1, "step": 149, "t": 0.745, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 149, "t": 0.745, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 154, "t": 0.77, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1724, "t": 8.62, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 1760, "t": 8.8, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 1818, "t": 9.09, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 7, "step": 1830, "t": 9.15, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 8, "step": 1847, "t": 9.235, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 9, "step": 6759, "t": 33.795, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 10, "step": 7372, "t": 36.86, "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": 11, "step": 7372, "t": 36.86, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.7673192311124164}, "cause": "task-0-1"} +{"env_id": 0, "seq": 12, "step": 7372, "t": 36.86, "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": 13, "step": 7372, "t": 36.86, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 14, "step": 7372, "t": 36.86, "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": 15, "step": 7791, "t": 38.955, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 16, "step": 7791, "t": 38.955, "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": 17, "step": 7791, "t": 38.955, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 18, "step": 7791, "t": 38.955, "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": 19, "step": 7791, "t": 38.955, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 20, "step": 7791, "t": 38.955, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 21, "step": 7791, "t": 38.955, "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": 22, "step": 7791, "t": 38.955, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 23, "step": 7791, "t": 38.955, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.7673192311124164}, "cause": "program-0-3"} +{"env_id": 0, "seq": 24, "step": 8345, "t": 41.725, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 25, "step": 8345, "t": 41.725, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.770000000001417}, "cause": "program-0-3"} +{"env_id": 0, "seq": 26, "step": 8345, "t": 41.725, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.770000000001417}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 27, "step": 8345, "t": 41.725, "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": 28, "step": 8345, "t": 41.725, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 29, "step": 8345, "t": 41.725, "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": 30, "step": 8765, "t": 43.825, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 31, "step": 8765, "t": 43.825, "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": 32, "step": 8765, "t": 43.825, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 33, "step": 8765, "t": 43.825, "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": 34, "step": 8765, "t": 43.825, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 35, "step": 8765, "t": 43.825, "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": 36, "step": 9347, "t": 46.735, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 37, "step": 11072, "t": 55.36, "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": 38, "step": 11072, "t": 55.36, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 39, "step": 11072, "t": 55.36, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 40, "step": 11072, "t": 55.36, "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_p001_e019/env.mp4 b/episodes/c6_p001_e019/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5250fc0dc5feb27368c2cf85ad0f1148d41870de --- /dev/null +++ b/episodes/c6_p001_e019/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81259e4e6efedbe427a55fde56c5519910efdd8cd055e3e70dfeffbf0eb9bfc8 +size 1222978 diff --git a/episodes/c6_p001_e019/meta.json b/episodes/c6_p001_e019/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f6fbce24dbfa24a9aee23434e8f743c057fca026 --- /dev/null +++ b/episodes/c6_p001_e019/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/19", + "fps": 25, + "frames": 1226, + "kept_ticks": "even", + "video_frames": { + "wrist": 1226, + "env": 1226 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e019/scene_snapshot.json b/episodes/c6_p001_e019/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..b15eb1387589b3941359c45cdb57dbc8463696e3 --- /dev/null +++ b/episodes/c6_p001_e019/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 19, + "env_id": 0, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5073986053466797, + 0.06928730010986328, + 0.8999999761581421 + ], + "ori": [ + -0.6957700252532959, + 0.0, + 0.0, + 0.718264639377594 + ], + "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": 0.27606336557651734, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.14400480048419645, + "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": 0.27606336557651734, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.006255149841308594, + 0.44738006591796875, + 0.8999999761581421 + ], + "ori": [ + 0.9999403953552246, + 6.116208872697371e-09, + -6.868734025999856e-09, + 0.010925783775746822 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.231633100535646e-09, + 7.564316950592342e-10, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -5.433633987195208e-08, + 2.1336747124678368e-07, + -8.936981821250356e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4897327423095703, + 1.1525344848632812, + 0.8999999761581421 + ], + "ori": [ + -0.011462032794952393, + 7.61069074428633e-09, + -2.9830986569834295e-09, + 0.9999343156814575 + ], + "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": [ + 3.4753937505627164e-09, + 7.451948391690166e-09, + 2.9802322387695312e-08 + ], + "angular_velocity": [ + -2.452608782732568e-07, + 3.003239328336349e-07, + -4.673372444585766e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3952741622924805, + 0.7595882415771484, + 0.8999999761581421 + ], + "ori": [ + -0.7429375648498535, + -1.973619134787441e-08, + -9.708138293262891e-08, + 0.6693606972694397 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.383478273226274e-10, + 5.202601682796626e-10, + 0.0 + ], + "angular_velocity": [ + -2.5272173687085342e-08, + -3.807288351254101e-08, + -1.5374530093481553e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6617183685302734, + 0.6463527679443359, + 0.8999999761581421 + ], + "ori": [ + 0.8513458967208862, + -4.057287483760774e-08, + -3.307544815811525e-08, + 0.5246046781539917 + ], + "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": [ + 1.3505610851893834e-08, + 1.0950636841755568e-08, + -1.4901161193847656e-08 + ], + "angular_velocity": [ + 3.498079195196624e-07, + 2.5056565391423646e-06, + 3.338584235734743e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.01646709442138672, + 0.4468231201171875, + 0.9179999828338623 + ], + "ori": [ + 0.9948097467422485, + 6.493485305014701e-09, + -5.93574744911507e-09, + 0.10175338387489319 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.164867313718787e-08, + -9.70298952296389e-09, + 1.6391277313232422e-07 + ], + "angular_velocity": [ + 1.1366938679202576e-06, + -1.8014615079664509e-06, + -6.37316261986598e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.5046882629394531, + 1.145491600036621, + 0.9180000424385071 + ], + "ori": [ + -0.044919054955244064, + 7.831399528868133e-09, + -3.2488167711619553e-09, + 0.9989907145500183 + ], + "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": [ + 5.000266156685029e-08, + 5.3778570929807756e-08, + -4.839152097702026e-06 + ], + "angular_velocity": [ + -1.9278736544947606e-06, + 2.721077180467546e-06, + 6.027057253277235e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.390120506286621, + 0.7568445205688477, + 0.9180000424385071 + ], + "ori": [ + -0.803049623966217, + -2.9554104941098558e-08, + -9.416351076652063e-08, + 0.5959122180938721 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4553888760815425e-08, + 1.3795226294632812e-08, + -6.023794412612915e-06 + ], + "angular_velocity": [ + -1.967020125448471e-06, + -8.754525993026618e-07, + 1.7675750996204442e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.6619176864624023, + 0.6516447067260742, + 0.9179999828338623 + ], + "ori": [ + 0.8773946166038513, + -7.851776331335714e-07, + -8.060458753789135e-07, + 0.4797695279121399 + ], + "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": [ + 1.6880780094652437e-05, + -1.2087209597666515e-06, + -6.888061761856079e-06 + ], + "angular_velocity": [ + 9.393671643920243e-05, + 0.00034991055144928396, + -7.099500362528488e-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": 6.479999999999884, + "step": 1296, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.27606336557651734, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1146, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.14374485611915588, + -0.002619922161102295, + 0.0 + ], + "carrier_2": [ + 0.33973273634910583, + 0.7025344967842102, + 0.0 + ], + "carrier_3": [ + -1.545274168252945, + 0.3095882534980774, + 0.0 + ], + "carrier_4": [ + 1.511718362569809, + 0.1963527798652649, + 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": [ + 0.1469071572402113, + -0.39127202087745183, + 3.0379691625481864 + ], + "ori": [ + -3.401147386136511, + 0.6316511590984462, + -2.735338038593408 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6702.101772199214, + "color": [ + 0.9094720607477504, + 0.991059410650921, + 0.8805225193766942 + ], + "intensity": 9154.20462364953, + "width": 2.0871824552365514, + "height": 1.651232316792149 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.4030857143820288, + 1.3596035491778096, + 2.3582607614126037 + ], + "ori": [ + -30.12411998559231, + 19.756536743472104, + 11.159126652524463 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4124.5399725167135, + "color": [ + 0.7995219301857819, + 0.7714503478085235, + 0.830247374841319 + ], + "intensity": 7521.748996254356, + "radius": 0.09961348688218064 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1158.2272567442342, + "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": [ + [ + 0.9141022562980652, + -1.7193983793258667, + 2.0904994010925293, + -1.9419001340866089, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.5243887901306152, + -1.9688496589660645, + 2.713090181350708, + -2.314990758895874, + -1.5707964897155762, + 4.094089984893799, + 0.007643884047865868, + 0.007055013440549374 + ], + [ + 2.7451119422912598, + -1.540006399154663, + 2.3921566009521484, + -2.423170804977417, + -1.5710152387619019, + 4.31405782699585, + 0.007786045782268047, + 0.007073867134749889 + ], + [ + 2.532923460006714, + -2.235064744949341, + 2.0644326210021973, + -1.4001749753952026, + -1.5708494186401367, + 4.105412483215332, + 0.018000001087784767, + 0.01799999736249447 + ] + ], + "joint_vel": [ + [ + -2.6723271787315276e-38, + 2.8563703559196347e-38, + 1.7572787210080363e-38, + 3.322347048962372e-37, + -7.561876452949709e-37, + 2.1489553184598345e-37, + 2.5990388508034812e-08, + -2.5990388508034812e-08 + ], + [ + -0.0002766369725577533, + -0.00021248625125735998, + -0.000507814169395715, + -0.00011871025344589725, + -0.0004857242456637323, + 0.001324058510363102, + -0.007579535245895386, + 0.00020019967632833868 + ], + [ + 0.008895074017345905, + 0.02148209698498249, + -0.022741546854376793, + 0.0006783968419767916, + 1.5587491361657158e-05, + 0.009172845631837845, + -0.008678012527525425, + 0.0003632035222835839 + ], + [ + 0.0011009863810613751, + 0.0018000123091042042, + -0.0006816986133344471, + -0.0010405306238681078, + 5.691897968063131e-06, + 0.0011036136420443654, + 1.027060420710768e-06, + -1.0270492794006714e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.048087868839502335, + -0.001825642422772944, + -0.025929855182766914, + -0.2881184220314026, + 0.6428166627883911, + 0.6514731645584106, + -0.2817041575908661 + ], + [ + 0.04945593699812889, + 0.0021331931930035353, + -0.028538212180137634, + -0.27885451912879944, + 0.6519472599029541, + 0.6414093375205994, + -0.2929145395755768 + ], + [ + 0.04608164355158806, + -0.0033790788147598505, + -0.028037304058670998, + -0.284664124250412, + 0.6486103534698486, + 0.6489511132240295, + -0.27772894501686096 + ], + [ + 0.05119932442903519, + 0.0024386635050177574, + -0.03340607509016991, + -0.2839737832546234, + 0.6476402878761292, + 0.6456132531166077, + -0.28827857971191406 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e019/wrist.mp4 b/episodes/c6_p001_e019/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ed4174eb1dd711ad67d028f48b6f40a5fa5670a5 --- /dev/null +++ b/episodes/c6_p001_e019/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19cd943a56420906b8af02337626e685f0297339b55fd39e9e3ab327fb4aa2b5 +size 7398304 diff --git a/episodes/c6_p001_e020/data.npz b/episodes/c6_p001_e020/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..7ee70cc5726a8f5295cca1fc892cef0d3966bcf2 --- /dev/null +++ b/episodes/c6_p001_e020/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3403b64cd583a4b94c65c6700fbdb01b6895ad57572e8111f1685d15d340efa2 +size 190117 diff --git a/episodes/c6_p001_e020/device_events.jsonl b/episodes/c6_p001_e020/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d283c4bbf3f81654e934fd2306a839c295af846a --- /dev/null +++ b/episodes/c6_p001_e020/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 55, "t": 0.275, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 55, "t": 0.275, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 60, "t": 0.3, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 7163, "t": 35.815, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7776, "t": 38.88, "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": 7776, "t": 38.88, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.321132961804654}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7776, "t": 38.88, "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": 7776, "t": 38.88, "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": 7776, "t": 38.88, "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": 8195, "t": 40.975, "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": 8195, "t": 40.975, "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": 8195, "t": 40.975, "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": 8195, "t": 40.975, "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": 8195, "t": 40.975, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 8195, "t": 40.975, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 8195, "t": 40.975, "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": 8195, "t": 40.975, "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": 8195, "t": 40.975, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.321132961804654}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8860, "t": 44.3, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 8860, "t": 44.3, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.325000000001701}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8860, "t": 44.3, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.325000000001701}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8860, "t": 44.3, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 23, "step": 8860, "t": 44.3, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 24, "step": 8860, "t": 44.3, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 25, "step": 9280, "t": 46.4, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 9280, "t": 46.4, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 9280, "t": 46.4, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 9280, "t": 46.4, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 9280, "t": 46.4, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 9280, "t": 46.4, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 9859, "t": 49.295, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 11576, "t": 57.88, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 33, "step": 11576, "t": 57.88, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11576, "t": 57.88, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11576, "t": 57.88, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c6_p001_e020/env.mp4 b/episodes/c6_p001_e020/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4e6398b5439677ad9e2fcccd7f4297e12f35bbb1 --- /dev/null +++ b/episodes/c6_p001_e020/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ea812d848992cf64006edb46110ff5bdaf36537b2393a0115d7b11862e2b836 +size 1211779 diff --git a/episodes/c6_p001_e020/meta.json b/episodes/c6_p001_e020/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..246b7088fbe8ec17e65c1eb1912c5f139bbec2dc --- /dev/null +++ b/episodes/c6_p001_e020/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/20", + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e020/scene_snapshot.json b/episodes/c6_p001_e020/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..0ac9b5ed22b12d4bde5d1842fdf3c1064274f833 --- /dev/null +++ b/episodes/c6_p001_e020/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 20, + "env_id": 1, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_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": [ + 0.46108436584472656, + 0.05295372009277344, + 0.8999999761581421 + ], + "ori": [ + 0.7118666768074036, + 0.0, + 0.0, + -0.7023146152496338 + ], + "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": [ + 2.6913332673572654e-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": 0.2831952633593305, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.26224890015895286, + "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": 0.2831952633593305, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6633491516113281, + 0.9524679183959961, + 0.8999999761581421 + ], + "ori": [ + 0.5344424843788147, + -8.898396686163323e-08, + 1.5616599569057144e-07, + 0.8452048301696777 + ], + "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": [ + -5.562748128795647e-07, + 8.308514907184872e-07, + -2.2687017917633057e-06 + ], + "angular_velocity": [ + -8.020052337087691e-05, + -3.6337223718874156e-05, + 3.913633463525912e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.013624191284179688, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + -1.2476019037421793e-05, + 6.059825530257967e-09, + 1.5058374103205097e-08, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3558263844970497e-08, + -2.2398008781010503e-08, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 4.6767436288064346e-06, + -7.768380214656645e-07, + -7.293672297237208e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2308664321899414, + 1.0958528518676758, + 0.8999999761581421 + ], + "ori": [ + -0.2609345316886902, + 4.860503111103753e-08, + 2.038805746451544e-08, + 0.9653565883636475 + ], + "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": [ + 2.7532398583218765e-10, + -1.9273854734436213e-10, + 0.0 + ], + "angular_velocity": [ + 1.8430361237165016e-08, + 2.460894066302899e-08, + 4.819488141905026e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.11229133605957031, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -9.607819606571866e-08, + 5.535410707580013e-08, + -1.812885057006497e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.096006712941744e-06, + -4.907083166472148e-07, + -3.2223761081695557e-06 + ], + "angular_velocity": [ + 2.546910400269553e-05, + 9.18097939575091e-05, + 1.1661664984785602e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 1.6509065628051758, + 0.9540605545043945, + 0.9179999828338623 + ], + "ori": [ + 0.5617197751998901, + -8.786004457306262e-08, + 1.491914076723333e-07, + 0.8273276090621948 + ], + "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": [ + -1.0838064099516487e-06, + 1.9736251033464214e-06, + -2.816319465637207e-06 + ], + "angular_velocity": [ + -7.987837307155132e-05, + -3.64431798516307e-05, + 3.6968579024687642e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.015851974487304688, + 1.1389455795288086, + 0.9180000424385071 + ], + "ori": [ + 0.010108057409524918, + 5.9262639240387216e-08, + 1.1650833187104581e-07, + 0.9999489188194275 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.985986722909729e-07, + -4.226727469358593e-06, + -4.4852495193481445e-06 + ], + "angular_velocity": [ + -4.443912985152565e-06, + 2.0279150703572668e-05, + 1.9462529962765984e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.224614143371582, + 1.0894355773925781, + 0.9179999828338623 + ], + "ori": [ + -0.33246511220932007, + 4.918770102335657e-08, + 1.8023889936102933e-08, + 0.9431156516075134 + ], + "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": [ + 3.0649012217054405e-08, + 1.777522484758265e-08, + -5.748122930526733e-06 + ], + "angular_velocity": [ + -1.367509639749187e-06, + 7.853657280065818e-07, + 1.9149140939589415e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -0.12691593170166016, + 0.4498453140258789, + 0.9179999828338623 + ], + "ori": [ + 0.9996309280395508, + -1.0659499594112276e-06, + -3.075533072660619e-08, + -0.027166685089468956 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.6709041018621065e-06, + -9.059850526682567e-06, + -3.3676624298095703e-06 + ], + "angular_velocity": [ + 0.00021132205438334495, + 0.00012185669038444757, + -3.636970723164268e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 8.579999999999941, + "step": 1716, + "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": 2.6913332673572654e-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": 0.2831952633593305, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1660, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5133491456508636, + 0.502467930316925, + 0.0 + ], + "carrier_2": [ + -0.1363758146762848, + 0.6999996304512024, + 0.0 + ], + "carrier_3": [ + -1.3808664381504059, + 0.6458528637886047, + 0.0 + ], + "carrier_4": [ + -0.2622913420200348, + 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": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.3558476845098817, + -0.4249025561153189, + 3.009047077807463 + ], + "ori": [ + 13.08661968247388, + -13.961423249033539, + -8.735910149013705 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5675.461419256553, + "color": [ + 0.986163193771921, + 0.8447855801867834, + 0.8709377363249102 + ], + "intensity": 6381.431556922362, + "width": 2.7148880804374995, + "height": 1.510489080820355 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.16695171739537384, + -1.1351494675087288, + 1.6551173227478495 + ], + "ori": [ + 0.159729853325544, + -12.90847411999512, + 19.900645821597102 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6815.7495795889145, + "color": [ + 0.7814930209666133, + 0.8204792789924304, + 0.9757973900092265 + ], + "intensity": 7605.054037687152, + "radius": 0.057617507305412576 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1158.2272567442342, + "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": [ + [ + -0.13243468105793, + -2.265256643295288, + 2.355930805206299, + -1.661698579788208, + -1.5713132619857788, + 4.577985763549805, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.91410231590271, + -1.7193983793258667, + 2.0904996395111084, + -1.9419008493423462, + -1.5707999467849731, + 2.4849002361297607, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.524697184562683, + -1.4142721891403198, + 2.192692279815674, + -2.349375009536743, + -1.5702375173568726, + 6.239926815032959, + 0.007658931892365217, + 0.007199316751211882 + ], + [ + 1.6721923351287842, + -1.4526209831237793, + 2.0944197177886963, + -2.2140085697174072, + -1.5703812837600708, + 0.09174010902643204, + 0.018000034615397453, + 0.017999965697526932 + ] + ], + "joint_vel": [ + [ + -1.2772322861565044e-06, + -6.811856110289227e-06, + -6.811920684413053e-06, + 5.214429148886479e-12, + -1.2776830646005904e-13, + -4.122800733620535e-13, + -2.598989290447662e-08, + 2.5990432916955797e-08 + ], + [ + 0.0, + 0.0, + -1.6020496033627618e-38, + -5.13063034357878e-37, + 7.998997271703438e-38, + -4.039186098854449e-37, + 2.5990376073536936e-08, + -2.5990399166175848e-08 + ], + [ + -0.00022728793555870652, + 0.01692976988852024, + 0.008970923721790314, + -0.024335235357284546, + 0.00012423869338817894, + 0.0013351192465052009, + -0.0058390977792441845, + 0.00020422565285116434 + ], + [ + 0.0001269663916900754, + -0.014065248891711235, + -0.010900182649493217, + 0.02365094982087612, + -6.317965016933158e-06, + -6.126624043645279e-07, + -7.035932867438532e-06, + 7.012614332779776e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04805801436305046, + -0.0007628299645148218, + -0.02721356973052025, + -0.2850443124771118, + 0.6439089775085449, + 0.6527536511421204, + -0.2793629467487335 + ], + [ + 0.050083331763744354, + 0.0017852451419457793, + -0.02900106832385063, + -0.2758297026157379, + 0.6562183499336243, + 0.6378980278968811, + -0.29390737414360046 + ], + [ + 0.046918731182813644, + -0.0007677791290916502, + -0.030682431533932686, + -0.28449082374572754, + 0.6484481692314148, + 0.6503942012786865, + -0.27489522099494934 + ], + [ + 0.04871461167931557, + 0.0018801508704200387, + -0.0328567735850811, + -0.28046277165412903, + 0.6457954049110413, + 0.6512370705604553, + -0.28315940499305725 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e020/wrist.mp4 b/episodes/c6_p001_e020/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c71755cd5b3bbf8a0556de0f0c239c5954ce21eb --- /dev/null +++ b/episodes/c6_p001_e020/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37dd17dc4666f424363f57230d925522a83f7e4d4234c23a45b27141521f4137 +size 6764701 diff --git a/episodes/c6_p001_e021/data.npz b/episodes/c6_p001_e021/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..6c04015b8c4ee03239260fff67db18171953490f --- /dev/null +++ b/episodes/c6_p001_e021/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd3eed5960600c54ae8254dbff0f327fead4cf874838ae7374d05429cf97661b +size 189466 diff --git a/episodes/c6_p001_e021/device_events.jsonl b/episodes/c6_p001_e021/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1be932f2e4ecc3fd30e9d4936f27a3224051e090 --- /dev/null +++ b/episodes/c6_p001_e021/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "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": 2, "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": 2, "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": 2, "seq": 4, "step": 619, "t": 3.095, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 5308, "t": 26.54, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 5916, "t": 29.58, "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": 5916, "t": 29.58, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.987645038064902}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 5916, "t": 29.58, "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": 5916, "t": 29.58, "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": 5916, "t": 29.58, "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": 6335, "t": 31.675, "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": 6335, "t": 31.675, "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": 6335, "t": 31.675, "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": 6335, "t": 31.675, "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": 6335, "t": 31.675, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 6335, "t": 31.675, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 6335, "t": 31.675, "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": 6335, "t": 31.675, "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": 6335, "t": 31.675, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.987645038064902}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 7333, "t": 36.665, "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": 7333, "t": 36.665, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.990000000002322}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7333, "t": 36.665, "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": 4.990000000002322}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7333, "t": 36.665, "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": 7333, "t": 36.665, "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": 7333, "t": 36.665, "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": 7753, "t": 38.765, "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": 7753, "t": 38.765, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 9.103314546621277e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 7753, "t": 38.765, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 9.103314546621277e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 7753, "t": 38.765, "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": 7753, "t": 38.765, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 7753, "t": 38.765, "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": 8330, "t": 41.65, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 10048, "t": 50.24, "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": 10048, "t": 50.24, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 10048, "t": 50.24, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10048, "t": 50.24, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c6_p001_e021/env.mp4 b/episodes/c6_p001_e021/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..53e497a65fddae1c21fae9e111b32b9e43df6432 --- /dev/null +++ b/episodes/c6_p001_e021/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b53416ef4b86d048ad1c7bf636a17646e610a021b5b583cd7b07625956fe97b +size 1200236 diff --git a/episodes/c6_p001_e021/meta.json b/episodes/c6_p001_e021/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9085b2a800d7e01de07ad5249ec25bec872052cf --- /dev/null +++ b/episodes/c6_p001_e021/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/21", + "fps": 25, + "frames": 1235, + "kept_ticks": "even", + "video_frames": { + "wrist": 1235, + "env": 1235 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e021/scene_snapshot.json b/episodes/c6_p001_e021/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..565c142a43e28dc07dd1199798fc5cd8d87ce23c --- /dev/null +++ b/episodes/c6_p001_e021/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 21, + "env_id": 2, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": [ + 0.5043811798095703, + 0.1029367446899414, + 0.8999999761581421 + ], + "ori": [ + -0.6904402375221252, + 0.0, + 0.0, + 0.7233894467353821 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.382665667352793e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2072621430383989, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.208033601063308, + "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": 0.2072621430383989, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3578252792358398, + 0.9602289199829102, + 0.8999999761581421 + ], + "ori": [ + -0.5132356286048889, + 1.7191009504813337e-08, + 2.3268979632007358e-08, + 0.8582478165626526 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.226913594810981e-10, + -1.9118284733110613e-10, + 0.0 + ], + "angular_velocity": [ + -3.940985315864509e-09, + 3.394030656522773e-08, + 6.654987672050083e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6911592483520508, + 0.7355117797851562, + 0.8999999761581421 + ], + "ori": [ + 0.7732845544815063, + 3.237812506995397e-08, + -9.095331421349329e-08, + 0.6340591311454773 + ], + "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": [ + -1.354294454358751e-09, + 1.9530261852196418e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -2.3120082914829254e-07, + -1.1319571058265865e-07, + -9.584937288309447e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.05755615234375, + 0.4464893341064453, + 0.8999999761581421 + ], + "ori": [ + 0.9999967217445374, + 1.0318466969749807e-08, + -4.081927329480095e-08, + 0.0025745327584445477 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0425926788570905e-10, + -1.6598151741931133e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.458453766645107e-07, + -2.1027805274798084e-08, + 1.0504486169793381e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.06397628784179688, + 1.1499929428100586, + 0.8999999761581421 + ], + "ori": [ + 6.920848682057112e-05, + -2.514799757324937e-10, + 7.153803660564506e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.112164748131363e-09, + 2.2728630089119406e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + -9.50981871028489e-08, + -3.091114422204555e-07, + 3.962696126791343e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.3599224090576172, + 0.975010871887207, + 0.9179999828338623 + ], + "ori": [ + -0.425039142370224, + 1.721922338049353e-08, + 2.4297635903280934e-08, + 0.9051750302314758 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.1625348501383996e-08, + 1.6088717913476103e-08, + 9.313225746154785e-08 + ], + "angular_velocity": [ + -1.2339745580902672e-06, + 1.3046307003605762e-06, + 1.4651401158971566e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.68206787109375, + 0.7385520935058594, + 0.9180000424385071 + ], + "ori": [ + 0.8138391375541687, + 3.672573711810401e-08, + -9.099530018374935e-08, + 0.5810902118682861 + ], + "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": [ + -1.3430906165012857e-08, + -1.8778109733830206e-08, + 3.0174851417541504e-07 + ], + "angular_velocity": [ + 4.1316161514259875e-06, + 9.538380254525691e-07, + 1.6595549823250622e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -0.06620502471923828, + 0.45540618896484375, + 0.9180000424385071 + ], + "ori": [ + 0.9993623495101929, + 8.736608769766008e-09, + -4.134260223054298e-08, + 0.035705871880054474 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.8906183285594125e-08, + -3.057794728533736e-08, + -5.736947059631348e-06 + ], + "angular_velocity": [ + 1.8117692661689944e-06, + -1.8415007616567891e-06, + -3.2760176793544815e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -0.06270694732666016, + 1.1466751098632812, + 0.9179999828338623 + ], + "ori": [ + -0.09202250838279724, + 2.8287336362176063e-10, + 5.101552513764318e-10, + 0.995756983757019 + ], + "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": [ + 3.763727107752857e-08, + 6.654278905671163e-08, + -1.0542571544647217e-06 + ], + "angular_velocity": [ + -3.014690719282953e-06, + 2.250876605103258e-06, + 5.830837679354772e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 1.0599999999999994, + "step": 212, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.382665667352793e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2072621430383989, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 68, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5078252851963043, + 0.5102289319038391, + 0.0 + ], + "carrier_2": [ + 1.5411592423915863, + 0.2855117917060852, + 0.0 + ], + "carrier_3": [ + -0.20755615830421448, + -0.0035106539726257324, + 0.0 + ], + "carrier_4": [ + -0.21397629380226135, + 0.6999929547309875, + 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 + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.002155383007113265, + -0.30469552118529, + 2.7791184081566573 + ], + "ori": [ + -0.4801176940938987, + 6.289341011697097, + 24.8384949206543 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3935.720949624219, + "color": [ + 0.8768537557428085, + 0.8416845322212964, + 0.9846920108050194 + ], + "intensity": 13193.502770413184, + "width": 1.8669899558082674, + "height": 1.871856086572618 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.4715599265378363, + 0.039026767572960974, + 1.884284952123294 + ], + "ori": [ + 2.1587501475379227, + 5.195915930803245, + 20.087942285741605 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7109.635100400863, + "color": [ + 0.9420395433753925, + 0.7576214631451962, + 0.8153157253493453 + ], + "intensity": 5608.323300234906, + "radius": 0.4331175572190652 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1158.2272567442342, + "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": [ + [ + -0.13514390587806702, + -2.1828105449676514, + 2.563776731491089, + -1.9517773389816284, + -1.5707287788391113, + 4.573534965515137, + 0.007770033087581396, + 0.00698887649923563 + ], + [ + 1.2356332540512085, + -1.5752665996551514, + 2.173593759536743, + -2.1690614223480225, + -1.570810079574585, + 2.860727548599243, + 0.007752627599984407, + 0.007218146231025457 + ], + [ + 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": [ + [ + -0.00011768376134568825, + -0.015078365802764893, + -0.02038055658340454, + 0.033943142741918564, + -0.0003062871110159904, + 0.000538062711711973, + -0.009646491147577763, + 0.0003931192622985691 + ], + [ + 0.00013084555394016206, + 2.1451212887768634e-05, + -0.0004886854439973831, + -0.000774366722907871, + 0.0003974359424319118, + 0.002744740340858698, + -0.00650907214730978, + 0.00034548877738416195 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + 0.04733619466423988, + -0.0006354881916195154, + -0.02797744795680046, + -0.28450560569763184, + 0.6447252035140991, + 0.6518692374229431, + -0.28009364008903503 + ], + [ + 0.04781157523393631, + 0.002147930208593607, + -0.0281822606921196, + -0.2777891457080841, + 0.652101993560791, + 0.6389809250831604, + -0.2988303005695343 + ], + [ + 0.05055169016122818, + -0.0019822167232632637, + -0.029671553522348404, + -0.28583040833473206, + 0.6462159156799316, + 0.6507196426391602, + -0.2779747545719147 + ], + [ + 0.04802043363451958, + 0.0030731831211596727, + -0.03226262331008911, + -0.2873353064060211, + 0.6501327753067017, + 0.6464981436729431, + -0.2771387994289398 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e021/wrist.mp4 b/episodes/c6_p001_e021/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..818225ec5d24e2353c0d43f4f093c1d2f71c9a8a --- /dev/null +++ b/episodes/c6_p001_e021/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf17850f18d2520b396667f5427546997f3828f534e2aa8accee8743e1829c9b +size 6771691 diff --git a/episodes/c6_p001_e022/data.npz b/episodes/c6_p001_e022/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..48a8690b847dbbd77949185bef5860c1ccedd877 --- /dev/null +++ b/episodes/c6_p001_e022/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:202e14ad4d7ceda9191dc9e11c3ceef3a3a1d4cbfa4f3279300f928a1cc027bd +size 204448 diff --git a/episodes/c6_p001_e022/device_events.jsonl b/episodes/c6_p001_e022/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..73e2bf6a7cf15f7be924995d9b8f0aa62deb384a --- /dev/null +++ b/episodes/c6_p001_e022/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 42, "t": 0.21, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 42, "t": 0.21, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 47, "t": 0.235, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 2232, "t": 11.16, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6923, "t": 34.615, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 7540, "t": 37.7, "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": 7540, "t": 37.7, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.8350458414762016}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 7540, "t": 37.7, "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": 7540, "t": 37.7, "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": 7540, "t": 37.7, "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": 7959, "t": 39.795, "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": 7959, "t": 39.795, "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": 7959, "t": 39.795, "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": 7959, "t": 39.795, "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": 7959, "t": 39.795, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7959, "t": 39.795, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 7959, "t": 39.795, "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": 7959, "t": 39.795, "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": 7959, "t": 39.795, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.8350458414762016}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 8527, "t": 42.635, "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": 8527, "t": 42.635, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.840000000001453}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8527, "t": 42.635, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.840000000001453}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 8527, "t": 42.635, "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": 8527, "t": 42.635, "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": 8527, "t": 42.635, "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": 8947, "t": 44.735, "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": 8947, "t": 44.735, "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": 8947, "t": 44.735, "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": 8947, "t": 44.735, "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": 8947, "t": 44.735, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8947, "t": 44.735, "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": 9527, "t": 47.635, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 33, "step": 11776, "t": 58.88, "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": 11776, "t": 58.88, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 11776, "t": 58.88, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 11776, "t": 58.88, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c6_p001_e022/env.mp4 b/episodes/c6_p001_e022/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dde347df988776869ea05dcb782ee096597a2d4f --- /dev/null +++ b/episodes/c6_p001_e022/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0bcf711aa673528c1ee41dafb6f50e940a55bef2bf064b04d29822030fb8af20 +size 1289031 diff --git a/episodes/c6_p001_e022/meta.json b/episodes/c6_p001_e022/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a79c283125ebb9b0a8a6b26348e44f32340fac46 --- /dev/null +++ b/episodes/c6_p001_e022/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/22", + "fps": 25, + "frames": 1249, + "kept_ticks": "even", + "video_frames": { + "wrist": 1249, + "env": 1249 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e022/scene_snapshot.json b/episodes/c6_p001_e022/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..ffe546ae77058c0ecbcd6ba2deeb421eedc05abc --- /dev/null +++ b/episodes/c6_p001_e022/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 22, + "env_id": 3, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.47048377990722656, + 0.05947589874267578, + 0.8999999761581421 + ], + "ori": [ + -0.6987550854682922, + 0.0, + 0.0, + 0.7153609991073608 + ], + "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": [ + 4.7098288810665245e-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": 0.25147472155970413, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.14213011400242534, + "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": 0.25147472155970413, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6472148895263672, + 0.6174230575561523, + 0.8999999761581421 + ], + "ori": [ + 0.873908519744873, + -3.994301067677952e-08, + 1.0323343246909644e-07, + 0.48609039187431335 + ], + "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": [ + 2.370107665683463e-08, + 1.2990928333067586e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 2.576056772340962e-07, + 1.0884780294873053e-06, + 8.437995546728416e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3395872116088867, + 0.9944581985473633, + 0.8999999761581421 + ], + "ori": [ + -0.4707739055156708, + 5.0823196318106056e-08, + -1.1558915957721183e-07, + 0.8822539448738098 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.6275233383211685e-09, + -3.9623448966352726e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 3.8277562453004066e-08, + 1.5338123660058045e-07, + -6.358618964696916e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.022950172424316406, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + -1.2163151041022502e-05, + 1.5084749005467302e-09, + 1.3212368976667221e-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": [ + -1.5491137261847143e-09, + -5.569029681851134e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.2040068497753964e-08, + -1.453454387956299e-07, + -1.3077486649137882e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.008401870727539062, + 0.4499979019165039, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 6.972335153676568e-09, + 3.920919491862129e-11, + 6.472133918578038e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9947110629914278e-09, + 9.46841050009084e-10, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -5.21484828652774e-08, + 1.9584911115089199e-07, + -1.1365293595133608e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.632765769958496, + 0.6094341278076172, + 0.9179999828338623 + ], + "ori": [ + 0.8899112939834595, + -5.064953825240082e-07, + -2.4431170686511905e-07, + 0.45613381266593933 + ], + "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": [ + 1.0031227247964125e-05, + -1.3087475281281513e-07, + -2.1345913410186768e-06 + ], + "angular_velocity": [ + 7.475788879673928e-05, + 0.00014873816689942032, + -5.2784744184464216e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.351531982421875, + 0.9864358901977539, + 0.9180000424385071 + ], + "ori": [ + -0.4338170289993286, + 5.547168768771371e-08, + -1.1209405670342676e-07, + 0.9010009765625 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.863631465288563e-08, + 1.8067517260078603e-08, + -4.8354268074035645e-06 + ], + "angular_velocity": [ + -1.5868213267822284e-06, + 1.2929327795063728e-06, + 5.798657554123565e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -0.033951759338378906, + 1.1583356857299805, + 0.9180000424385071 + ], + "ori": [ + -0.08131512999534607, + 1.1500204122327773e-09, + 2.2382765085815493e-10, + 0.9966885447502136 + ], + "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": [ + 9.033670700375751e-09, + -1.5275922748969606e-08, + -5.554407835006714e-06 + ], + "angular_velocity": [ + -2.886720835704182e-07, + 1.5397165498143295e-06, + -6.480794567664816e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.01968097686767578, + 0.4585599899291992, + 0.9179999828338623 + ], + "ori": [ + 0.9979721903800964, + 1.2137539862067115e-08, + -1.2849304953377327e-09, + -0.06365134567022324 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.6072599129965965e-08, + -2.4076442173281976e-08, + -2.820044755935669e-06 + ], + "angular_velocity": [ + 1.1531565178302117e-06, + -1.9394456103327684e-06, + -1.910171221197743e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 9.08000000000002, + "step": 1816, + "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": 4.7098288810665245e-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": 0.25147472155970413, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1773, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.4972148835659027, + 0.1674230694770813, + 0.0 + ], + "carrier_2": [ + -1.4895872175693512, + 0.5444582104682922, + 0.0 + ], + "carrier_3": [ + -0.17295017838478088, + 0.7000005841255188, + 0.0 + ], + "carrier_4": [ + -0.14159813523292542, + -2.086162567138672e-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": [ + 0.3744511112273389, + -0.21506424348970293, + 2.6459909867639957 + ], + "ori": [ + 6.513747850868484, + -1.657359537514937, + -18.821679075685136 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4313.304206379583, + "color": [ + 0.828921700648487, + 0.9124172114663889, + 0.9117875390779706 + ], + "intensity": 6295.168394147232, + "width": 2.2848092534449527, + "height": 1.3080728066751655 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.132656605678795, + -0.2252918730027459, + 2.2433614934208324 + ], + "ori": [ + 24.540853942150292, + 32.92575464595926, + 35.87104350730874 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7145.679543684653, + "color": [ + 0.9858612907870874, + 0.9392453433176872, + 0.9295359212301042 + ], + "intensity": 3313.2863039923786, + "radius": 0.22666063031508057 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1158.2272567442342, + "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": [ + [ + 1.5719842910766602, + -1.425328254699707, + 2.1823978424072266, + -2.3254687786102295, + -1.573020339012146, + 6.264256477355957, + 0.007674376014620066, + 0.007086628582328558 + ], + [ + 2.726466655731201, + -1.8884713649749756, + 2.0672531127929688, + -1.7486449480056763, + -1.5706087350845337, + 4.297802925109863, + 0.007817926816642284, + 0.007147517986595631 + ], + [ + 1.1274462938308716, + -1.5059775114059448, + 2.1015443801879883, + -2.166334390640259, + -1.570807933807373, + 2.626786947250366, + 0.007684522308409214, + 0.007002576254308224 + ], + [ + 0.9141026139259338, + -1.7193984985351562, + 2.0904998779296875, + -1.9419010877609253, + -1.5707999467849731, + 2.484900712966919, + 0.01799999549984932, + 0.018000002950429916 + ] + ], + "joint_vel": [ + [ + -0.00019017381418962032, + 0.016227932646870613, + 0.009208498522639275, + -0.023994486778974533, + 0.00012021260045003146, + 0.0003753956698346883, + -0.0073627084493637085, + 0.00032362318597733974 + ], + [ + 0.008962531574070454, + 0.02394256182014942, + -0.015866339206695557, + -0.008412040770053864, + -0.0011884275591000915, + 0.012428328394889832, + -0.00805463083088398, + 0.00039724927046336234 + ], + [ + 0.00014267540245782584, + 1.1152564184158109e-05, + -0.0004061833315063268, + -0.0005197927821427584, + 0.0006121245678514242, + 0.0024164950009435415, + -0.008647780865430832, + 0.0002975952811539173 + ], + [ + 3.4059648896800354e-06, + 3.405935331102228e-06, + -9.301376509285308e-12, + -1.7624375266492298e-12, + -3.4059771678585093e-06, + 7.177121310458778e-13, + 5.1980389770278634e-08, + -5.198016950203055e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.047566693276166916, + -0.0002974643721245229, + -0.029712112620472908, + -0.28269630670547485, + 0.6425653100013733, + 0.6525132060050964, + -0.28534042835235596 + ], + [ + 0.05169326812028885, + -0.0007424760260619223, + -0.029073966667056084, + -0.27878421545028687, + 0.6528543829917908, + 0.6374250054359436, + -0.2995827794075012 + ], + [ + 0.04993017762899399, + -0.0026241433806717396, + -0.027844049036502838, + -0.28434887528419495, + 0.647960364818573, + 0.6523807048797607, + -0.27146363258361816 + ], + [ + 0.05115561559796333, + 0.003406604053452611, + -0.034399162977933884, + -0.28542640805244446, + 0.6450710892677307, + 0.6523520946502686, + -0.27722156047821045 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e022/wrist.mp4 b/episodes/c6_p001_e022/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2b55543a7351dc2d9d74523a00e589a4f0b6c999 --- /dev/null +++ b/episodes/c6_p001_e022/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa761353141436b2e7753b16b765c24ec030bf539ec5c3d846d971aec08c9631 +size 6615295 diff --git a/episodes/c6_p001_e023/data.npz b/episodes/c6_p001_e023/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..7b361a4a867232154ac408f2062d2eea3c63d5eb --- /dev/null +++ b/episodes/c6_p001_e023/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96dd633771b4db4541ab78dc2a220afa901738e17ac04e8258ba53ce8599ff57 +size 190687 diff --git a/episodes/c6_p001_e023/device_events.jsonl b/episodes/c6_p001_e023/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b89567776967b9321c05c708855e920f59337ee0 --- /dev/null +++ b/episodes/c6_p001_e023/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 67, "t": 0.335, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 67, "t": 0.335, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 72, "t": 0.36, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 7019, "t": 35.095, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 7632, "t": 38.16, "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": 7632, "t": 38.16, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.861912007129555}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7632, "t": 38.16, "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": 7632, "t": 38.16, "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": 7632, "t": 38.16, "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": 8051, "t": 40.255, "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": 8051, "t": 40.255, "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": 8051, "t": 40.255, "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": 8051, "t": 40.255, "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": 8051, "t": 40.255, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 8051, "t": 40.255, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 8051, "t": 40.255, "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": 8051, "t": 40.255, "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": 8051, "t": 40.255, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.861912007129555}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 9024, "t": 45.12, "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": 9024, "t": 45.12, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.865000000002489}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 9024, "t": 45.12, "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": 4.865000000002489}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 9024, "t": 45.12, "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": 9024, "t": 45.12, "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": 9024, "t": 45.12, "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": 9444, "t": 47.22, "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": 9444, "t": 47.22, "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": 9444, "t": 47.22, "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": 9444, "t": 47.22, "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": 9444, "t": 47.22, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 9444, "t": 47.22, "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": 10026, "t": 50.13, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 11752, "t": 58.76, "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": 11752, "t": 58.76, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11752, "t": 58.76, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 11752, "t": 58.76, "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_p001_e023/env.mp4 b/episodes/c6_p001_e023/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..348a54ef3c817d33628985b8d8470f58165a34d8 --- /dev/null +++ b/episodes/c6_p001_e023/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd6382476d44cf49b110cd508b081e5ff1f87bd887b7340b777557515ead00c7 +size 1246015 diff --git a/episodes/c6_p001_e023/meta.json b/episodes/c6_p001_e023/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..674e7fefbef5536af8352aa96abacdf99a1f84bc --- /dev/null +++ b/episodes/c6_p001_e023/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/23", + "fps": 25, + "frames": 1266, + "kept_ticks": "even", + "video_frames": { + "wrist": 1266, + "env": 1266 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e023/scene_snapshot.json b/episodes/c6_p001_e023/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..4c764097e912b1a8e0239d271cc465eaabe1b24a --- /dev/null +++ b/episodes/c6_p001_e023/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 23, + "env_id": 0, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5073986053466797, + 0.06928730010986328, + 0.8999999761581421 + ], + "ori": [ + -0.6957700252532959, + 0.0, + 0.0, + 0.718264639377594 + ], + "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": [ + 3.3641652831539748e-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": 0.2501391787371674, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.03581729409091611, + "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": 0.2501391787371674, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5743398666381836, + 0.5354166030883789, + 0.8999999761581421 + ], + "ori": [ + 0.9417241811752319, + -4.0200387019240225e-08, + -1.4052014307708305e-07, + 0.33638614416122437 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7281065467500412e-09, + 1.3214734861932698e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.2525207537805727e-08, + -1.386670476222207e-07, + 1.6601822139250544e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3989763259887695, + 0.7960796356201172, + 0.8999999761581421 + ], + "ori": [ + -0.7093026041984558, + -7.727529727219462e-09, + -5.143729708834144e-08, + 0.7049041986465454 + ], + "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": [ + 2.552428712832011e-09, + -1.0448332199430865e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 6.272956198927204e-08, + 9.97770541744103e-08, + -2.0373180475985464e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.11467170715332031, + 0.4499979019165039, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.0773921249883642e-08, + -5.133931502143696e-09, + 4.325063855503686e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.188837555650025e-09, + 3.7556269205651915e-08, + 5.21540641784668e-08 + ], + "angular_velocity": [ + -4.57094211014919e-06, + -3.762462483791751e-07, + -5.136045047038351e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.2655601501464844, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + 2.8868624212918803e-05, + -7.94087551270195e-09, + 4.83517337279693e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.604761822373348e-09, + -3.3696325729692944e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + 2.1906055280851433e-07, + -3.3448722547291254e-07, + -2.5697993066842173e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.5746994018554688, + 0.5379981994628906, + 0.9179999828338623 + ], + "ori": [ + 0.9709618091583252, + -2.615199612421293e-08, + -1.4361022238063015e-07, + 0.2392345815896988 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.769496417926348e-08, + -4.3597633947456416e-08, + 1.7508864402770996e-07 + ], + "angular_velocity": [ + 1.9155186237185262e-06, + -2.891325721066096e-06, + 3.7527001950365957e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -1.3943052291870117, + 0.7853469848632812, + 0.9180000424385071 + ], + "ori": [ + -0.7292119860649109, + -7.546042901651617e-09, + -5.2254506499593845e-08, + 0.6842878460884094 + ], + "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": [ + 2.577797530989301e-09, + 3.1781968168331787e-09, + -6.109476089477539e-06 + ], + "angular_velocity": [ + -1.584803271725832e-06, + -5.853003131051082e-07, + -9.225381347732764e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.11185932159423828, + 0.4560403823852539, + 0.9179999828338623 + ], + "ori": [ + 0.9999887943267822, + 4.243046589635924e-07, + -3.062894293748286e-08, + 0.004750481806695461 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.9479756449291017e-06, + 8.01848727860488e-06, + 3.725290298461914e-07 + ], + "angular_velocity": [ + -0.00010945607209578156, + -6.411939466488548e-06, + 6.36550466879271e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.26654815673828125, + 1.158818244934082, + 0.9179999828338623 + ], + "ori": [ + -0.0676785483956337, + -7.182763273050341e-09, + 5.537961755841536e-10, + 0.997707188129425 + ], + "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": [ + 1.5549250775848122e-08, + -3.8227359056008936e-08, + -1.341104507446289e-06 + ], + "angular_velocity": [ + 3.772818217839813e-07, + 1.6418505310866749e-06, + -8.463914724643473e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 8.279999999999895, + "step": 1656, + "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": 3.3641652831539748e-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": 0.2501391787371674, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1588, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.4243398606777191, + 0.08541661500930786, + 0.0 + ], + "carrier_2": [ + -1.548976331949234, + 0.34607964754104614, + 0.0 + ], + "carrier_3": [ + -0.035328298807144165, + -2.086162567138672e-06, + 0.0 + ], + "carrier_4": [ + 0.1155601441860199, + 0.6999996304512024, + 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": [ + -0.4407399134560633, + 0.4875319680233554, + 3.063390102132477 + ], + "ori": [ + 2.6886849231966323, + -14.283719489963646, + 21.42026492863903 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6906.084458299745, + "color": [ + 0.8783424744562369, + 0.8643409598791966, + 0.8060961785817277 + ], + "intensity": 15697.484169566076, + "width": 2.146756054420644, + "height": 1.2917685394293583 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.7873066406544709, + 1.4461061758124443, + 1.9856931623601184 + ], + "ori": [ + -37.80128926309666, + 8.830746284330644, + 39.42299147417924 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4328.187027834299, + "color": [ + 0.85714229411479, + 0.8151992156231466, + 0.7518291467335143 + ], + "intensity": 3113.6837876976324, + "radius": 0.19080884964282513 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1179.0509463057651, + "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": [ + [ + 0.9141024947166443, + -1.7193983793258667, + 2.0904994010925293, + -1.9419007301330566, + -1.5707999467849731, + 2.484900712966919, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 2.5242843627929688, + -2.2542967796325684, + 2.2525506019592285, + -1.5695568323135376, + -1.5708975791931152, + 4.0950703620910645, + 0.007964962162077427, + 0.007170704193413258 + ], + [ + 2.803151845932007, + -1.6907042264938354, + 1.7515347003936768, + -1.631635069847107, + -1.5707837343215942, + 4.373500347137451, + 0.00771847739815712, + 0.007106557954102755 + ], + [ + 2.804680109024048, + -1.6904911994934082, + 1.7439970970153809, + -1.6252065896987915, + -1.57230544090271, + 4.3745222091674805, + 0.017999986186623573, + 0.017999986186623573 + ] + ], + "joint_vel": [ + [ + 0.0, + 2.602917782936898e-38, + 2.7108286948179305e-38, + 6.419215982496955e-37, + -6.466994654936574e-37, + 1.3577092482987962e-36, + -2.5990372520823257e-08, + 2.5990386731677972e-08 + ], + [ + 0.001161070424132049, + 0.0006022058660164475, + 0.006647753529250622, + 0.0033738180063664913, + 0.0033384100534021854, + -0.009242908097803593, + -0.004635910503566265, + 7.608204759890214e-05 + ], + [ + -8.090206392807886e-05, + 3.8061156374169514e-05, + 0.0001513625611551106, + -0.0002510162303224206, + -0.0010008325334638357, + 0.0023179277777671814, + -0.007947655394673347, + 0.00033512842492200434 + ], + [ + -6.81192432239186e-06, + 3.4059346489812015e-06, + -1.042872819351226e-11, + 3.405974894121755e-06, + -3.4059783047268866e-06, + 1.3623912309412844e-05, + 1.819331174601757e-07, + 1.8193340167727e-07 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.047059182077646255, + 0.0010357850696891546, + -0.026139572262763977, + -0.2817545235157013, + 0.6439052224159241, + 0.6518995761871338, + -0.2846531569957733 + ], + [ + 0.049848057329654694, + 0.0033668368123471737, + -0.027948865666985512, + -0.2775123417377472, + 0.653793215751648, + 0.6391292810440063, + -0.2950510084629059 + ], + [ + 0.04899482801556587, + 0.0008216588757932186, + -0.030004629865288734, + -0.28501901030540466, + 0.6461482644081116, + 0.652837336063385, + -0.2739708721637726 + ], + [ + 0.05194835737347603, + 0.0031496011652052402, + -0.03297623246908188, + -0.2809748947620392, + 0.6493546366691589, + 0.6492836475372314, + -0.27896666526794434 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e023/wrist.mp4 b/episodes/c6_p001_e023/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..20ebdadae74134af9c4c388624b9b3786c115776 --- /dev/null +++ b/episodes/c6_p001_e023/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b96ab5245186cbcae3842991f8c178ac6a1002f5e30a5ca268a8cd111f16d3b0 +size 8235761 diff --git a/episodes/c6_p001_e024/data.npz b/episodes/c6_p001_e024/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..26468b5ad38f93f06099cb70c57810cd54374d6d --- /dev/null +++ b/episodes/c6_p001_e024/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2eb0043ce73da77075881a458eee527e4f15400ce302014198a38695454e313 +size 191186 diff --git a/episodes/c6_p001_e024/device_events.jsonl b/episodes/c6_p001_e024/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b211927b91f3be0660d7408952846ed35be8da64 --- /dev/null +++ b/episodes/c6_p001_e024/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 54, "t": 0.27, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 54, "t": 0.27, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 59, "t": 0.295, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 5863, "t": 29.315, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6476, "t": 32.38, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 6, "step": 6476, "t": 32.38, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.733879222287173}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6476, "t": 32.38, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 8, "step": 6476, "t": 32.38, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 6476, "t": 32.38, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 6895, "t": 34.475, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 6895, "t": 34.475, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 6895, "t": 34.475, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 6895, "t": 34.475, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 6895, "t": 34.475, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 6895, "t": 34.475, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 6895, "t": 34.475, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 17, "step": 6895, "t": 34.475, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 6895, "t": 34.475, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.733879222287173}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7242, "t": 36.21, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 7242, "t": 36.21, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.7350000000008876}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7242, "t": 36.21, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.7350000000008876}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7242, "t": 36.21, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 23, "step": 7242, "t": 36.21, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 7242, "t": 36.21, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 7662, "t": 38.31, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 7662, "t": 38.31, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.447938601297551e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 7662, "t": 38.31, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.447938601297551e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 7662, "t": 38.31, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 7662, "t": 38.31, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 7662, "t": 38.31, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8243, "t": 41.215, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 10028, "t": 50.14, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 33, "step": 10028, "t": 50.14, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10028, "t": 50.14, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10028, "t": 50.14, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c6_p001_e024/env.mp4 b/episodes/c6_p001_e024/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4263eb670d2d66b14ff5c9501977039e4949bb74 --- /dev/null +++ b/episodes/c6_p001_e024/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:604562c9f7c16c4e234d442a070802cf748de6f69e1f356257bc86121b128f8d +size 1200077 diff --git a/episodes/c6_p001_e024/meta.json b/episodes/c6_p001_e024/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0c447b4ca90eb2877adf0d0bb8507f8bcb3330df --- /dev/null +++ b/episodes/c6_p001_e024/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/24", + "fps": 25, + "frames": 1211, + "kept_ticks": "even", + "video_frames": { + "wrist": 1211, + "env": 1211 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e024/scene_snapshot.json b/episodes/c6_p001_e024/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..bddf0d04f452e7e3fdf7bfecd713139182c43bfb --- /dev/null +++ b/episodes/c6_p001_e024/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 24, + "env_id": 2, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 0.5043811798095703, + 0.1029367446899414, + 0.8999999761581421 + ], + "ori": [ + -0.6904402375221252, + 0.0, + 0.0, + 0.7233894467353821 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.0184997336775146e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2895761492120609, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.12439860203444217, + "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": 0.2895761492120609, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.025727272033691406, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -2.231144602404811e-09, + -2.089349138145735e-09, + -3.6261957575334236e-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": [ + 2.2605872729286602e-10, + 1.4607204334993185e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -8.239565119083636e-08, + 1.0195176258775973e-08, + 3.0274760476345364e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3928365707397461, + 1.1500024795532227, + 0.8999999761581421 + ], + "ori": [ + 1.8420470269120415e-06, + -4.3917802727833077e-10, + 1.1143008737946047e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.340565963265817e-09, + -1.221488910019275e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 6.982249800557838e-08, + -2.177476972065051e-07, + -1.3308134150236128e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6378793716430664, + 0.9950618743896484, + 0.8999999165534973 + ], + "ori": [ + 0.478276789188385, + -1.819497992983088e-05, + -1.7377275071339682e-05, + 0.8782092332839966 + ], + "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": [ + 3.581509736250155e-05, + 8.108194379019551e-06, + -4.298985004425049e-06 + ], + "angular_velocity": [ + -0.0009177884203381836, + 0.003182826330885291, + 0.00010624861170072109 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3948898315429688, + 0.7477607727050781, + 0.8999999761581421 + ], + "ori": [ + -0.7566129565238953, + -1.3710811685996305e-07, + -4.4105409102712656e-08, + 0.6538630127906799 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.15734105527099e-10, + -5.0657487093985765e-09, + 3.725290298461914e-08 + ], + "angular_velocity": [ + 4.5151296035328414e-07, + -4.5305547757834574e-08, + -1.2179378394705509e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.013914108276367188, + 0.4425811767578125, + 0.9179999828338623 + ], + "ori": [ + 0.9992420077323914, + -2.928161046966693e-09, + -4.541441889216458e-09, + -0.03892941400408745 + ], + "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": [ + -2.4196999959258392e-08, + 2.2081358963532693e-08, + 1.0058283805847168e-07 + ], + "angular_velocity": [ + -5.220872481004335e-07, + -1.5270842368408921e-06, + 1.4409984316898772e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.39056396484375, + 1.1552391052246094, + 0.9180000424385071 + ], + "ori": [ + -0.06390692293643951, + 2.96113467079806e-10, + -5.915565814973434e-10, + 0.997955858707428 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.460075698706987e-09, + -1.4804674819401953e-08, + -5.520880222320557e-06 + ], + "angular_velocity": [ + -3.622633926170238e-07, + 1.7311743931713863e-06, + -5.4872650423476443e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.6269893646240234, + 1.0050420761108398, + 0.9179993271827698 + ], + "ori": [ + 0.4154643416404724, + -2.9608028853544965e-05, + -3.828319677268155e-05, + 0.9096095561981201 + ], + "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": [ + 7.99472036305815e-05, + 4.574997001327574e-05, + -0.00012527406215667725 + ], + "angular_velocity": [ + -0.003221851773560047, + 0.005629288963973522, + -2.687859523575753e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.4021492004394531, + 0.7576408386230469, + 0.9179999828338623 + ], + "ori": [ + -0.7021387219429016, + -1.3161510992176773e-07, + -5.3874451566571224e-08, + 0.7120401859283447 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5441880663047414e-08, + 1.7026167142830673e-09, + -6.742775440216064e-07 + ], + "angular_velocity": [ + -3.2088432817545254e-06, + 1.1339086540829157e-06, + -1.7588467926543672e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 1.8399999999999828, + "step": 368, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 2.0184997336775146e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2895761492120609, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 313, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.12427273392677307, + 7.748603820800781e-07, + 0.0 + ], + "carrier_2": [ + 0.24283656477928162, + 0.7000024914741516, + 0.0 + ], + "carrier_3": [ + 1.4878879487514496, + 0.5450618863105774, + -5.960464477539063e-08 + ], + "carrier_4": [ + -1.5448898375034332, + 0.2977607846260071, + 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": [ + 0.6685016285454738, + 0.07471577369116844, + 2.7263207915881216 + ], + "ori": [ + 10.130379311344946, + 10.994622320974425, + 29.84564673108168 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5189.465894644962, + "color": [ + 0.9397967069463615, + 0.8504838168356619, + 0.928799710855504 + ], + "intensity": 14078.875287801284, + "width": 1.6933868900067472, + "height": 1.5335525827802177 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.544010708233718, + 0.18930961110829747, + 2.7773729585028892 + ], + "ori": [ + -13.704769755059559, + 0.9184639786191866, + 11.68342766863988 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6174.0854997417055, + "color": [ + 0.9323576455541592, + 0.8841881060328663, + 0.7792816074021818 + ], + "intensity": 4701.239720539109, + "radius": 0.17347948738954547 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1179.0509463057651, + "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": [ + [ + -0.3251765966415405, + -2.168853282928467, + 2.3223695755004883, + -1.7234150171279907, + -1.569161057472229, + 4.358969211578369, + 0.01799999177455902, + 0.018000006675720215 + ], + [ + 0.914100706577301, + -1.7193981409072876, + 2.090498924255371, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141013026237488, + -1.7193976640701294, + 2.09049916267395, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 1.555525541305542, + -1.4871716499328613, + 2.1310575008392334, + -2.2157859802246094, + -1.5711477994918823, + 0.03127140551805496, + 0.007723063230514526, + 0.007211208809167147 + ] + ], + "joint_vel": [ + [ + -2.5544668460497633e-06, + -6.811839284637244e-06, + -1.3623857739730738e-05, + 1.2999379350731033e-11, + 6.811957064201124e-06, + -8.200771333712054e-13, + 1.0396153271585717e-07, + -1.0396166771897697e-07 + ], + [ + 2.1748459050684848e-38, + -2.1523431536791247e-38, + -1.8302561029525299e-38, + -3.3283017827086123e-37, + 5.753322987989379e-37, + 3.3372021579307407e-37, + 3.079939678631259e-38, + -3.447786130710381e-38 + ], + [ + 0.0, + -2.454379024679696e-38, + -1.6918571403831822e-38, + -3.603107173534915e-37, + 5.968267374705023e-37, + -2.6944321126972536e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + 0.008212964981794357, + 0.0031242151744663715, + -0.0012385176960378885, + -0.002090225927531719, + 9.519761078990996e-06, + -0.021837739273905754, + -0.006379646714776754, + 0.00030056602554395795 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04655242711305618, + -0.002731593791395426, + -0.028316708281636238, + -0.28918153047561646, + 0.6461208462715149, + 0.6485211253166199, + -0.2798610329627991 + ], + [ + 0.049228571355342865, + 6.482639582827687e-05, + -0.029470432549715042, + -0.2741921842098236, + 0.658328652381897, + 0.6364960670471191, + -0.2937597632408142 + ], + [ + 0.047252099961042404, + -0.0016390768578276038, + -0.030451424419879913, + -0.2831263542175293, + 0.6461185216903687, + 0.6529703736305237, + -0.2756810188293457 + ], + [ + 0.04975041002035141, + 0.0018825241131708026, + -0.031835030764341354, + -0.28404131531715393, + 0.6499471664428711, + 0.6459535956382751, + -0.2821934223175049 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e024/wrist.mp4 b/episodes/c6_p001_e024/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e4b59961657a0413e254149d9f664826a7047b1a --- /dev/null +++ b/episodes/c6_p001_e024/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c473e8f58ad9f65ee52d5ceba5465fe55ec0cf9b8fc76c39980499abcea09edc +size 7833152 diff --git a/episodes/c6_p001_e025/data.npz b/episodes/c6_p001_e025/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..a09f551aeb9f3b08039a60e8ea9b286a8e267e5d --- /dev/null +++ b/episodes/c6_p001_e025/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0836ff0e97d824feafe6513e092fb9f21afe90b6c7d83d9919545ab517a25536 +size 190816 diff --git a/episodes/c6_p001_e025/device_events.jsonl b/episodes/c6_p001_e025/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..170c1fdffc4dfb327be885537ed3d0ba728ba3de --- /dev/null +++ b/episodes/c6_p001_e025/device_events.jsonl @@ -0,0 +1,38 @@ +{"env_id": 1, "seq": 1, "step": 164, "t": 0.82, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 164, "t": 0.82, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 169, "t": 0.845, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 2005, "t": 10.025, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 2061, "t": 10.305, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 2082, "t": 10.41, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 7, "step": 6538, "t": 32.69, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 8, "step": 7152, "t": 35.76, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 9, "step": 7152, "t": 35.76, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.709085659803619}, "cause": "task-1-1"} +{"env_id": 1, "seq": 10, "step": 7152, "t": 35.76, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 11, "step": 7152, "t": 35.76, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 12, "step": 7152, "t": 35.76, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 7571, "t": 37.855, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 14, "step": 7571, "t": 37.855, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 15, "step": 7571, "t": 37.855, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 16, "step": 7571, "t": 37.855, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 17, "step": 7571, "t": 37.855, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 18, "step": 7571, "t": 37.855, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 19, "step": 7571, "t": 37.855, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 7571, "t": 37.855, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 21, "step": 7571, "t": 37.855, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.709085659803619}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8513, "t": 42.565, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 23, "step": 8513, "t": 42.565, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.71000000000241}, "cause": "program-1-3"} +{"env_id": 1, "seq": 24, "step": 8513, "t": 42.565, "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": 4.71000000000241}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 25, "step": 8513, "t": 42.565, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 26, "step": 8513, "t": 42.565, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 27, "step": 8513, "t": 42.565, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8933, "t": 44.665, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 29, "step": 8933, "t": 44.665, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 30, "step": 8933, "t": 44.665, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 31, "step": 8933, "t": 44.665, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 32, "step": 8933, "t": 44.665, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 33, "step": 8933, "t": 44.665, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 34, "step": 9504, "t": 47.52, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 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": 36, "step": 11312, "t": 56.56, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 37, "step": 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": 38, "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/c6_p001_e025/env.mp4 b/episodes/c6_p001_e025/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ca67b78f47e29efe780c4b4ea00326f80ff991a0 --- /dev/null +++ b/episodes/c6_p001_e025/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ecee7dd2e3695d7bdd4dfd3d19ac96a85d162301cade74741ff8811852cd6cc +size 1183770 diff --git a/episodes/c6_p001_e025/meta.json b/episodes/c6_p001_e025/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..71dcef0d5e8f7ec1b8ede88c162aeea340159a1f --- /dev/null +++ b/episodes/c6_p001_e025/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/25", + "fps": 25, + "frames": 1224, + "kept_ticks": "even", + "video_frames": { + "wrist": 1224, + "env": 1224 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e025/scene_snapshot.json b/episodes/c6_p001_e025/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..3ddfee45d911336981aea642da6665ad0688f9ad --- /dev/null +++ b/episodes/c6_p001_e025/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 25, + "env_id": 1, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46108436584472656, + 0.05295372009277344, + 0.8999999761581421 + ], + "ori": [ + 0.7118666768074036, + 0.0, + 0.0, + -0.7023146152496338 + ], + "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": [ + 3.027748407893882e-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": 0.17937655972080382, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2269960613970307, + "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": 0.17937655972080382, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5855026245117188, + 1.1527633666992188, + 0.8999999761581421 + ], + "ori": [ + -0.009348011575639248, + 1.6308510097928774e-10, + -1.08414111021915e-11, + 0.9999563097953796 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0477787526497195e-09, + -3.5314057234003826e-11, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -4.90334173264273e-09, + 9.159838754158045e-08, + 1.0586331811168748e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1889028549194336, + 1.1177749633789062, + 0.8999999761581421 + ], + "ori": [ + -0.2040099799633026, + 1.082688383391428e-09, + 5.691244453487343e-08, + 0.9789687991142273 + ], + "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": [ + -9.562293179499193e-10, + 8.726442901618725e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -6.049488376902445e-08, + -8.118023231418192e-08, + -1.0253669024962164e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6728858947753906, + 0.928563117980957, + 0.8999999761581421 + ], + "ori": [ + 0.5659423470497131, + -3.176101870394632e-08, + -2.009516641976461e-08, + 0.8244448304176331 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.9231393366681004e-08, + -3.916196256170679e-09, + 4.0978193283081055e-08 + ], + "angular_velocity": [ + -5.040700443714741e-07, + -2.990324219354079e-07, + -4.2298816538277606e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.07711315155029297, + 0.4473400115966797, + 0.8999999761581421 + ], + "ori": [ + 0.9999610781669617, + -1.3153887978845091e-09, + 4.1648109960767954e-10, + 0.00882259476929903 + ], + "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": [ + 3.462341524596013e-09, + 2.985961256030123e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + -1.9397072037463658e-07, + 3.26290006569252e-07, + -2.6257408691776618e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.5987110137939453, + 1.1579465866088867, + 0.9179999828338623 + ], + "ori": [ + 0.050299350172281265, + -2.367279705595138e-10, + 1.3409494625804541e-09, + 0.9987342357635498 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.6781934770478983e-08, + 2.1385718085298322e-08, + 1.1548399925231934e-07 + ], + "angular_velocity": [ + -2.737213549153239e-07, + 2.408788304819609e-06, + 6.245408457061785e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.1827430725097656, + 1.1223583221435547, + 0.9180000424385071 + ], + "ori": [ + -0.3029884397983551, + 5.640143907470474e-09, + 5.846712980428492e-08, + 0.9529942870140076 + ], + "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": [ + 4.219142368810935e-09, + 1.4183001439960208e-08, + -5.248934030532837e-06 + ], + "angular_velocity": [ + -1.5212203834380489e-06, + -5.857710903001134e-07, + 4.55042652447446e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.6704931259155273, + 0.9303827285766602, + 0.9179999828338623 + ], + "ori": [ + 0.49362537264823914, + -7.402911705867155e-08, + 1.2100348101284908e-07, + 0.8696746826171875 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.0370890726771904e-06, + -8.289216566481628e-06, + -6.321817636489868e-06 + ], + "angular_velocity": [ + 6.848061457276344e-05, + -0.0001135687343776226, + 7.235246448544785e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -0.07548999786376953, + 0.44083690643310547, + 0.9179999828338623 + ], + "ori": [ + 0.9990202784538269, + -1.1082357254110775e-08, + 1.1425743684512213e-09, + -0.04425470158457756 + ], + "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": [ + -3.016679173128978e-08, + 3.5534995390662516e-08, + 2.2351741790771484e-07 + ], + "angular_velocity": [ + -9.181138125313737e-07, + -2.2338685994327534e-06, + -7.556593573099235e-09 + ] + } + } + ], + "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": 7.859999999999855, + "step": 1572, + "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": 3.027748407893882e-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": 0.17937655972080382, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1407, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.4355026185512543, + 0.7027633786201477, + 0.0 + ], + "carrier_2": [ + -1.338902860879898, + 0.6677749752998352, + 0.0 + ], + "carrier_3": [ + 1.5228858888149261, + 0.478563129901886, + 0.0 + ], + "carrier_4": [ + -0.22711315751075745, + -0.0026599764823913574, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.584216687368027, + 0.3140593623874206, + 2.7880951389728588 + ], + "ori": [ + -3.7444333737783975, + -5.164195707210261, + 13.652349356932156 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6058.06768616708, + "color": [ + 0.9406385852414718, + 0.9163279040569287, + 0.8037891056598143 + ], + "intensity": 6058.3733032648215, + "width": 1.8066317832341814, + "height": 1.576340333268225 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.0539220902807922, + -0.8139646017289067, + 2.6458601505974086 + ], + "ori": [ + -39.24784464943837, + -8.78192273333071, + -5.582975302653708 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3842.4776879714054, + "color": [ + 0.7556612491036514, + 0.8220744677784424, + 0.9418762314375015 + ], + "intensity": 9359.808977705638, + "radius": 0.1766415745499778 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1179.0509463057651, + "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": [ + [ + -0.3251765966415405, + -2.168853282928467, + 2.3223695755004883, + -1.7234150171279907, + -1.569161057472229, + 4.358969211578369, + 0.01799999177455902, + 0.018000006675720215 + ], + [ + 0.914100706577301, + -1.7193981409072876, + 2.090498924255371, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9339212775230408, + -1.3690069913864136, + 2.2362027168273926, + -2.4379491806030273, + -1.5707966089248657, + 2.5824413299560547, + 0.018000051379203796, + 0.01799994707107544 + ], + [ + 1.566386342048645, + -1.2757792472839355, + 2.2264516353607178, + -2.5210912227630615, + -1.5699172019958496, + 0.0008555642561987042, + 0.017999986186623573, + 0.017999986186623573 + ] + ], + "joint_vel": [ + [ + -2.554466618676088e-06, + -6.811837920395192e-06, + -1.3623855920741335e-05, + 1.1128900752332971e-11, + 6.811957064201124e-06, + -7.429712227391416e-14, + 1.0396143323987417e-07, + -1.039616464026949e-07 + ], + [ + 2.1748459050684848e-38, + -2.1523431536791247e-38, + -1.8302561029525299e-38, + -3.3283017827086123e-37, + 5.753322987989379e-37, + 3.3372021579307407e-37, + 3.079939678631259e-38, + -3.447786130710381e-38 + ], + [ + -0.00013874261640012264, + 0.018756285309791565, + 0.007374401204288006, + -0.024905018508434296, + -8.09947323432425e-06, + 4.7183886636048555e-05, + -7.85152951721102e-06, + 7.853222996345721e-06 + ], + [ + 3.405966708669439e-06, + 3.4059191875712713e-06, + 6.811928415118018e-06, + -5.088859889035291e-12, + 3.405978532100562e-06, + -4.988046420351111e-09, + 1.8193155426615704e-07, + 1.8193436801539065e-07 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04733705893158913, + -0.0009454796090722084, + -0.027913464233279228, + -0.28984546661376953, + 0.6417031288146973, + 0.6510466933250427, + -0.28345170617103577 + ], + [ + 0.049376849085092545, + 0.0008523586438968778, + -0.026830023154616356, + -0.27049845457077026, + 0.6572900414466858, + 0.6378450989723206, + -0.29657045006752014 + ], + [ + 0.04840485379099846, + -0.0017726124497130513, + -0.027763737365603447, + -0.27834707498550415, + 0.6464017629623413, + 0.6565821170806885, + -0.2712702751159668 + ], + [ + 0.049072928726673126, + 0.0029595140367746353, + -0.03334561362862587, + -0.2869780659675598, + 0.650590181350708, + 0.6459235548973083, + -0.27777454257011414 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e025/wrist.mp4 b/episodes/c6_p001_e025/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1fe578ca503b72550ffaf80f8b442eb566d3329d --- /dev/null +++ b/episodes/c6_p001_e025/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd647c316cdcb9abc2d5e1d5f79aeaacd1bc4b362de9dce5887e20cccf20a741 +size 6583981 diff --git a/episodes/c6_p001_e026/data.npz b/episodes/c6_p001_e026/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..12698cdcc191a75e1482405d219cfeed5060fd51 --- /dev/null +++ b/episodes/c6_p001_e026/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86cff9045117d64695b6be4b90ee07d7b5cb949439c73f7e3905eb2cbcfc67b7 +size 190773 diff --git a/episodes/c6_p001_e026/device_events.jsonl b/episodes/c6_p001_e026/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be32973b99ce915b3c16bff4daf1d0381dc317cb --- /dev/null +++ b/episodes/c6_p001_e026/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 3, "seq": 1, "step": 40, "t": 0.2, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 40, "t": 0.2, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 45, "t": 0.225, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1231, "t": 6.155, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 1278, "t": 6.39, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 6135, "t": 30.675, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 6744, "t": 33.72, "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": 8, "step": 6744, "t": 33.72, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.76972335596232}, "cause": "task-3-1"} +{"env_id": 3, "seq": 9, "step": 6744, "t": 33.72, "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": 10, "step": 6744, "t": 33.72, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 6744, "t": 33.72, "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": 12, "step": 7163, "t": 35.815, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 13, "step": 7163, "t": 35.815, "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": 14, "step": 7163, "t": 35.815, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 7163, "t": 35.815, "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": 16, "step": 7163, "t": 35.815, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 7163, "t": 35.815, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 18, "step": 7163, "t": 35.815, "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": 19, "step": 7163, "t": 35.815, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7163, "t": 35.815, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.76972335596232}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8117, "t": 40.585, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 22, "step": 8117, "t": 40.585, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.77000000000244}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 8117, "t": 40.585, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.77000000000244}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 24, "step": 8117, "t": 40.585, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8117, "t": 40.585, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8117, "t": 40.585, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8537, "t": 42.685, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 28, "step": 8537, "t": 42.685, "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": 29, "step": 8537, "t": 42.685, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 8537, "t": 42.685, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 31, "step": 8537, "t": 42.685, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 32, "step": 8537, "t": 42.685, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 33, "step": 9119, "t": 45.595, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 34, "step": 10824, "t": 54.12, "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": 35, "step": 10824, "t": 54.12, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 36, "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": 3, "seq": 37, "step": 10824, "t": 54.12, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c6_p001_e026/env.mp4 b/episodes/c6_p001_e026/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..abd3f0fc7dd375d28a2cefdcb983b2c51d3a8c71 --- /dev/null +++ b/episodes/c6_p001_e026/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22dcb390858dff4ca7ac853414ae5214dd004476aac193b2b7638cd0a13cde05 +size 1202936 diff --git a/episodes/c6_p001_e026/meta.json b/episodes/c6_p001_e026/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1d617caf27698cfdae467e817b5076c7c0ea6e77 --- /dev/null +++ b/episodes/c6_p001_e026/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p001/magicsim/26", + "fps": 25, + "frames": 1258, + "kept_ticks": "even", + "video_frames": { + "wrist": 1258, + "env": 1258 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c6_p001_e026/scene_snapshot.json b/episodes/c6_p001_e026/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..ae65de86353dabe1dc66f7c13b2400dd2679add2 --- /dev/null +++ b/episodes/c6_p001_e026/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 26, + "env_id": 3, + "run_id": "c6_p001", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.47048377990722656, + 0.05947589874267578, + 0.8999999761581421 + ], + "ori": [ + -0.6987550854682922, + 0.0, + 0.0, + 0.7153609991073608 + ], + "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": [ + 2.0185001673583836e-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": 0.24996011368523036, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.0759486719610292, + "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": 0.24996011368523036, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6510639190673828, + 0.623499870300293, + 0.8999999761581421 + ], + "ori": [ + 0.8682544231414795, + 7.780647592880996e-08, + -7.41395638215181e-08, + 0.4961193799972534 + ], + "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": [ + -5.500994006979454e-07, + -9.346626370643207e-07, + -2.6188790798187256e-06 + ], + "angular_velocity": [ + 8.00355919636786e-05, + -4.660763806896284e-05, + 4.5410274651658256e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.392411231994629, + 0.7325677871704102, + 0.8999999761581421 + ], + "ori": [ + -0.7707211375236511, + -4.0377919674483564e-08, + -2.5927532121272634e-08, + 0.6371726989746094 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5436401668011968e-07, + -3.022273986630353e-08, + 1.601874828338623e-07 + ], + "angular_velocity": [ + -1.6158501239260659e-06, + 3.840699719148688e-06, + 1.6371652691304917e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5617656707763672, + 1.150003433227539, + 0.8999999761581421 + ], + "ori": [ + -1.679150841482624e-06, + -1.8311470395548923e-10, + -1.7990428591296848e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7199119906052829e-09, + -2.9718614236173835e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 2.9541562085455553e-08, + -1.6551291537325596e-07, + -1.4568659167935039e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.07453536987304688, + 0.4499959945678711, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.6121770585186823e-10, + -1.3497394313333189e-08, + 2.667944727363647e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.995815151507486e-09, + 3.3992886283584767e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + -2.15151558791149e-07, + 2.741187472565798e-07, + -2.5089654798193806e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.6565027236938477, + 0.6256742477416992, + 0.9179999828338623 + ], + "ori": [ + 0.9042736291885376, + 5.458839069660826e-08, + -7.990112038669395e-08, + 0.4269533157348633 + ], + "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": [ + -1.3786120689474046e-06, + -1.916927658385248e-06, + -4.105269908905029e-06 + ], + "angular_velocity": [ + 5.6551220041001216e-05, + -9.337729716207832e-05, + -1.3813078112434596e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.3842239379882812, + 0.7202310562133789, + 0.9180000424385071 + ], + "ori": [ + -0.7587553262710571, + -3.050517989322543e-07, + 4.7032642669364577e-07, + 0.6513757109642029 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.7257501642452553e-06, + -9.381610652781092e-06, + -1.862645149230957e-06 + ], + "angular_velocity": [ + 2.2728272597305477e-05, + 3.45812295563519e-05, + -1.3481936548487283e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.5549440383911133, + 1.1411285400390625, + 0.9180000424385071 + ], + "ori": [ + 0.009384728036820889, + -3.4081337751956653e-10, + 4.561037936223755e-10, + 0.9999560117721558 + ], + "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": [ + -1.2348135847162212e-09, + -2.1074029632472957e-08, + -5.193054676055908e-06 + ], + "angular_velocity": [ + -6.304014164015825e-07, + 1.4003891237734933e-06, + -2.4162034151231637e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.08153247833251953, + 0.44655513763427734, + 0.9179999828338623 + ], + "ori": [ + 0.9967485070228577, + 7.555380321377925e-09, + -1.3656448416554667e-08, + 0.08057575672864914 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.9654604105644466e-08, + 1.7536361696102176e-08, + -1.7061829566955566e-06 + ], + "angular_velocity": [ + 1.6565712712690583e-07, + -1.520868295301625e-06, + 1.7240779470739653e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 3.9799999999999374, + "step": 796, + "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": 2.0185001673583836e-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": 0.24996011368523036, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 755, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5010639131069183, + 0.17349988222122192, + 0.0 + ], + "carrier_2": [ + -1.5424112379550934, + 0.2825677990913391, + 0.0 + ], + "carrier_3": [ + 0.4117656648159027, + 0.700003445148468, + 0.0 + ], + "carrier_4": [ + -0.0754646360874176, + -3.993511199951172e-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": [ + -0.3203561790561885, + 0.5900333024799722, + 2.833457365741756 + ], + "ori": [ + -1.681823961650906, + 11.737185599429836, + 16.439386201860323 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5979.113755126149, + "color": [ + 0.8632285419572028, + 0.8630264085567544, + 0.8818942584219776 + ], + "intensity": 8393.366046985633, + "width": 1.6711164922788537, + "height": 1.1387956419645084 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.5546729131803052, + 0.7903353601176835, + 2.40389048541716 + ], + "ori": [ + 19.793060637912546, + -6.84934374742862, + -19.623854573775795 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 2995.759569331215, + "color": [ + 0.9510786068791027, + 0.8749908340871644, + 0.9586773162213968 + ], + "intensity": 8160.414883619382, + "radius": 0.15290172010361536 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1179.0509463057651, + "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": [ + [ + -0.3187255859375, + -2.1244163513183594, + 2.4364402294158936, + -1.882838487625122, + -1.5708062648773193, + 4.36866569519043, + 0.007260005921125412, + 0.006523470859974623 + ], + [ + 1.11238694190979, + -1.6001954078674316, + 2.19708514213562, + -2.1677138805389404, + -1.5707683563232422, + 2.771714925765991, + 0.0077212234027683735, + 0.007302168756723404 + ], + [ + 2.2627780437469482, + -2.4460718631744385, + 2.623457193374634, + -1.7455919981002808, + -1.569786787033081, + 3.8379337787628174, + 0.008390146307647228, + 0.00639360724017024 + ], + [ + 0.9141021966934204, + -1.7193983793258667, + 2.0904994010925293, + -1.9419001340866089, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -9.846883040154353e-05, + -0.010299177840352058, + -0.01872074604034424, + 0.02788975089788437, + -0.00020840027718804777, + 0.00042023256537504494, + -0.009679139591753483, + 0.00019945889653172344 + ], + [ + 0.00598764605820179, + -0.004331314470618963, + 0.0020179320126771927, + 0.0031510936096310616, + -0.0006198867340572178, + 0.001504603074863553, + -0.005182632245123386, + 0.0002319470513612032 + ], + [ + 0.028477201238274574, + -0.02144668623805046, + -0.0009302645921707153, + 0.002495577558875084, + -0.003213357413187623, + 0.03840510547161102, + -0.007971365936100483, + 0.000675233022775501 + ], + [ + 1.70298233115318e-06, + 3.4059346489812015e-06, + -1.1192727300546323e-11, + 3.405976485737483e-06, + -3.405976940484834e-06, + 2.9496606437744155e-13, + 2.599039738981901e-08, + -2.599039206074849e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.047266263514757156, + -0.0002554756647441536, + -0.027320893481373787, + -0.2829909324645996, + 0.6472923159599304, + 0.65036541223526, + -0.27920180559158325 + ], + [ + 0.04694293439388275, + 0.0033199801109731197, + -0.03119414858520031, + -0.2739468812942505, + 0.6549287438392639, + 0.6382507681846619, + -0.2977539300918579 + ], + [ + 0.047862689942121506, + -0.0020545911975204945, + -0.029686205089092255, + -0.2866875231266022, + 0.6468743085861206, + 0.6503813862800598, + -0.2763475179672241 + ], + [ + 0.05129551142454147, + 0.0009638054762035608, + -0.03446197882294655, + -0.2836576998233795, + 0.6487503051757812, + 0.6467946171760559, + -0.2834043800830841 + ] + ], + "camera1": [ + [ + 0.027449186891317368, + 0.5843407511711121, + 1.9452497959136963, + 0.059618908911943436, + 0.020344076678156853, + 0.27151134610176086, + 0.9603714346885681 + ], + [ + 0.06020154803991318, + 0.5933516025543213, + 1.9509679079055786, + 0.058558493852615356, + 0.0220327265560627, + 0.2615526616573334, + 0.9631592035293579 + ], + [ + 0.04768693819642067, + 0.5670608282089233, + 1.9684035778045654, + 0.0266533475369215, + 0.006988747511059046, + 0.26533520221710205, + 0.9637624025344849 + ], + [ + 0.07018949836492538, + 0.5963824391365051, + 1.9676952362060547, + 0.020301848649978638, + 0.00039045215817168355, + 0.2840040624141693, + 0.9586080312728882 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p001_e026/wrist.mp4 b/episodes/c6_p001_e026/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9c6bc4a43ac92653a73374651bab7a90cb8054d4 --- /dev/null +++ b/episodes/c6_p001_e026/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21d229131b52bf41e8dcf8d06c6739596eb96f3cfcdf82e7459449619b47a17e +size 6713759 diff --git a/index/episodes.csv b/index/episodes.csv index 3d4a398d140fa25ce63eee9d4c527cf2d953684e..035b8519c4b14c536ff745bce46ba73ff543328e 100644 --- a/index/episodes.csv +++ b/index/episodes.csv @@ -399,3 +399,203 @@ c4_p001_e033,2,True,0.0861215591430664,0.4500007629394531,-0.002712295391721101, c4_p001_e034,3,True,-0.005664825439453125,0.4499959945678711,-0.009509195661352795,0.011961850259117416,-9.5210846659173,reservoir_12ch,0.4789714813232422,0.05381488800048828,-88.34825443215077,0.19858790734385384,1172.0448491935856,rect,-0.5072812352024849,0.535617262123046,3.016058787139375,15629.363806090756,4462.957628438491,disk,-1.52953306421081,-0.6843821621463352,2.2680799766963995,3472.0554827326623,5937.737266785813,0.04933757707476616,-0.003427076619118452,-0.028398757800459862,-0.28529882431030273,0.6444211602210999,0.6549297571182251,-0.27275076508522034,0.05816757678985596,0.5959747433662415,1.9697424173355103,0.052000969648361206,0.025135990232229233,0.266117662191391,0.96220862865448,1251,1,,2.1517996788024902,0.3096741355973599,0.0,0.007429841905832291,0.5603517186250999,12,release,0.042589426040649414,"Pre-grasping the small plate, moving the arm toward it; the ",v1 c4_p001_e035,1,True,-0.13013267517089844,0.45000171661376953,0.01249226812326606,-0.0008044855563803133,-1.1015435229727757,deep_well_96_1ml,0.5132904052734375,0.09563636779785156,-90.50000534689879,0.1562478558480542,1172.0448491935856,rect,-0.06648491476457685,0.4337527723629433,3.1975018436057336,5252.2891851632,5500.144633275477,sphere,-0.08499584866542631,0.649927132032575,1.8283571605316813,3740.416119989836,4277.364295222448,0.052735310047864914,-0.001079358858987689,-0.031312085688114166,-0.28379568457603455,0.6489266157150269,0.6466933488845825,-0.28309357166290283,0.06799137592315674,0.5805333852767944,1.956607460975647,0.044886380434036255,0.01054947916418314,0.2796475887298584,0.9589948654174805,1279,1,,2.1200947761535645,0.27965082203108393,0.0,0.007433678954839706,0.5418295543393276,12,release,0.04234403371810913,"Pre-grasping the small plate, moving the arm toward it; the ",v1 c4_p001_e036,0,True,0.008646965026855469,0.4499988555908203,0.006169115352380751,0.011783706551263644,5.5799349184159155,plate_6_clear,0.4625425338745117,0.1092996597290039,-90.6955091724371,0.25421397407209717,1341.7088669994287,rect,0.15587087571662284,-0.30938663533534166,2.872428565055067,11991.209252412125,6338.154802256524,sphere,0.19008722862470573,-0.15812263212103783,2.048277061770072,5701.386672187668,6662.270326897166,0.04987611621618271,-0.004408321809023619,-0.0267648808658123,-0.27704712748527527,0.6482483148574829,0.6497927308082581,-0.28423309326171875,0.03100407123565674,0.5703215599060059,1.9552648067474365,0.04304821416735649,0.02780849300324917,0.27877625823020935,0.9589876532554626,1288,1,,2.114926815032959,0.2716122060470652,0.0,0.0073795928619802,0.5496894409937888,12,release,0.04262232780456543,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c4_p001_e037,3,True,0.1356954574584961,0.447265625,0.0037796779549628535,-0.0034243728947974867,2.150058889542578,reservoir_12ch,0.4789714813232422,0.05381488800048828,-88.34825443215077,0.17704041086563402,1341.7088669994287,rect,-0.4168530879538871,-0.17214000973404797,2.864302633735577,7263.104958729111,3823.088684783058,disk,-1.5714766511765415,1.2428667836622604,1.7409305838665752,2516.3616140487893,4273.397592424868,0.048036690801382065,-0.0016507752006873488,-0.02646692469716072,-0.28807714581489563,0.6413444876670837,0.6577433347702026,-0.2703007459640503,0.05816757678985596,0.5959747433662415,1.9697424173355103,0.052000969648361206,0.025135990232229233,0.266117662191391,0.96220862865448,1247,1,,2.120867967605591,0.26575507654059927,0.0,0.007395043503493071,0.5092221331194867,12,release,0.042124271392822266,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c4_p001_e038,2,True,-0.03083515167236328,0.4499979019165039,-0.009122888546881085,0.0012528365516854944,-8.923538061383454,plate_384_black,0.5296335220336914,0.1062154769897461,-91.34418654391534,0.2852423146842974,1341.7088669994287,rect,-0.5464882281597553,-0.39439514366652373,2.644659440028169,6053.70016892686,4701.010395610763,sphere,0.5166886427557538,0.14884255315912776,1.873565519993877,8277.730847452218,7082.819826473974,0.05244879424571991,0.003695292863994837,-0.029856042936444283,-0.28040868043899536,0.6555150151252747,0.6444874405860901,-0.2762371897697449,0.045494578778743744,0.5663745403289795,1.9324513673782349,0.04075014591217041,0.01848364807665348,0.28104737401008606,0.9586501717567444,1189,1,,2.076932191848755,0.30573924882237447,0.0,0.007380789611488581,0.5382674516400336,12,release,0.04239034652709961,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c4_p001_e039,1,True,0.11580848693847656,0.4499988555908203,-0.0029646123116924567,-0.009179231939833627,-2.4517035515655436,deep_well_96_1ml,0.5132904052734375,0.09563636779785156,-90.50000534689879,0.1755464664836913,1341.7088669994287,rect,-0.24738013453011543,0.06979346879352233,2.6981333114325885,5829.030584668773,6720.173587266401,sphere,-0.3754495535065454,0.6686232728622337,2.729794240068747,8242.534470429338,7351.096605620183,0.05328802019357681,-0.00023754163703415543,-0.0347498320043087,-0.2887176275253296,0.6516819000244141,0.6420477032661438,-0.28236067295074463,0.06799137592315674,0.5805333852767944,1.956607460975647,0.044886380434036255,0.01054947916418314,0.2796475887298584,0.9589948654174805,1220,1,,2.0522563457489014,0.29443015144581647,0.0,0.007470953743904829,0.5204918032786885,12,release,0.04223364591598511,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c4_p002_e000,1,True,0.025252342224121094,0.4499988555908203,-0.01409590429184455,0.011581853919195136,-0.1464736449110262,plate_96_white,0.5296335220336914,0.1062154769897461,-91.34418654391534,0.2753199149774926,1487.7917010610722,rect,-0.53892609742148,-0.46763422587221826,2.689923087404139,10070.233247084801,3754.3103534508027,sphere,-0.527581941225014,1.4390250313055961,2.487257749174463,8171.54221957393,4477.737768988043,0.05245121940970421,0.0027370310854166746,-0.030637629330158234,-0.2767798900604248,0.6570204496383667,0.6422855854034424,-0.28140050172805786,0.045494578778743744,0.5663745403289795,1.9324513673782349,0.04075014591217041,0.01848364807665348,0.28104737401008606,0.9586501717567444,1217,1,,2.041367530822754,0.2541952287599103,0.0,0.0073131900280714035,0.5234182415776499,12,release,0.042336225509643555,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c4_p002_e001,0,True,-0.1441488265991211,0.4474506378173828,0.006495360156704237,-0.0010682001069651935,-8.3143738091008,deep_well_96_2ml,0.5132904052734375,0.09563636779785156,-90.50000534689879,0.16296318036505905,1487.7917010610722,rect,-0.395105893047357,0.5304763226054159,2.716307110753135,4765.329694125933,6431.4693655714345,sphere,1.6815377914943843,-0.07361334915128137,2.6244410669111176,8082.613732889329,7308.225057840182,0.053240105509757996,-0.003986010793596506,-0.034043196588754654,-0.2856940031051636,0.6504719853401184,0.6435160636901855,-0.28487229347229004,0.06799137592315674,0.5805333852767944,1.956607460975647,0.044886380434036255,0.01054947916418314,0.2796475887298584,0.9589948654174805,1260,1,,2.1158947944641113,0.27520552416870675,0.0,0.007455958519130945,0.546031746031746,12,release,0.04247283935546875,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c4_p002_e002,3,True,0.06038951873779297,0.45000743865966797,-0.006869397320630534,0.0023534311556030895,7.324860604075695,plate_96_clear,0.49127864837646484,0.06891345977783203,-92.58880970116354,0.16780464425716848,1487.7917010610722,rect,0.7219550799855566,-0.10025545270126485,3.118528934067446,6121.708935139099,6920.880860880297,sphere,1.113774520647175,0.05596605169452795,2.6481217457600366,4817.723606795864,6086.289884150448,0.05045514553785324,0.003069512313231826,-0.029440246522426605,-0.27871939539909363,0.6530729532241821,0.6495676040649414,-0.2717961370944977,0.02519400417804718,0.5662321448326111,1.9400368928909302,0.02740968018770218,0.018826903775334358,0.2785038948059082,0.9598592519760132,1217,1,,2.0762295722961426,0.2651132020137885,0.0,0.0073266103863716125,0.5250616269515201,12,release,0.042243003845214844,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c4_p002_e003,2,True,-0.0643453598022461,0.44744873046875,0.009831672029262158,-0.012840003907343021,-3.4730913816611633,plate_384_black,0.4789714813232422,0.05381488800048828,-88.34825443215077,0.23527144262021202,1487.7917010610722,rect,0.3493019771283018,0.2922143616053232,2.9304960953732158,12965.650935579284,4798.958463312865,disk,-0.2390585081783032,0.6782338428337564,1.7761587432060435,6949.3082919689605,6769.9772565586045,0.04679550603032112,-0.0022435507271438837,-0.02739661931991577,-0.2881123125553131,0.6373042464256287,0.6603074073791504,-0.2735483646392822,0.05816757678985596,0.5959747433662415,1.9697424173355103,0.052000969648361206,0.025135990232229233,0.266117662191391,0.96220862865448,1248,1,,2.0638744831085205,0.2689230924921079,0.0,0.007362676784396172,0.5136217948717948,12,release,0.04227173328399658,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c4_p002_e004,3,True,0.024877548217773438,0.44748973846435547,0.0036885547970066327,0.006238551448437583,-10.733873181760003,plate_48_clear,0.49127864837646484,0.06891345977783203,-92.58880970116354,0.15252382879901058,1216.6487915644495,rect,-0.13322360357171176,-0.2195885009562919,3.166297420333732,6949.495279924989,5147.30910208094,sphere,1.2200876190691337,1.1215193219666906,1.7096126383357788,7096.359209418491,5753.6375426226405,0.05398687347769737,0.004274751991033554,-0.0303847324103117,-0.27740833163261414,0.652660071849823,0.6491126418113708,-0.2751949429512024,0.02519400417804718,0.5662321448326111,1.9400368928909302,0.02740968018770218,0.018826903775334358,0.2785038948059082,0.9598592519760132,1138,1,,2.1728997230529785,0.28094638113670595,0.0,0.00732499361038208,0.5553602811950791,12,release,0.042220234870910645,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c4_p002_e005,2,True,-0.10375499725341797,0.44794559478759766,0.014046634614734217,0.008933415019738222,-11.214240436564666,plate_24_clear,0.4789714813232422,0.05381488800048828,-88.34825443215077,0.2977924449709101,1216.6487915644495,rect,0.3818138602979174,-0.19066780764982455,2.7528522900042787,8507.995981584154,3712.959886051668,disk,1.4426874152858251,-1.1247395694535884,1.9446797763761572,7046.004226882296,2802.3996223795634,0.046887774020433426,-0.003154933685436845,-0.02549459971487522,-0.2859630286693573,0.6423661708831787,0.6560299396514893,-0.27425462007522583,0.05816757678985596,0.5959747433662415,1.9697424173355103,0.052000969648361206,0.025135990232229233,0.266117662191391,0.96220862865448,1188,1,,2.105440378189087,0.27745400731312075,0.0,0.007341588847339153,0.5353535353535354,12,release,0.04277300834655762,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c4_p002_e006,0,True,-0.07490730285644531,0.4472198486328125,-0.0067990091971843305,-0.007971436228888476,9.290091563841543,plate_6_clear,0.5132904052734375,0.09563636779785156,-90.50000534689879,0.27502317353654504,1216.6487915644495,rect,0.765554363188725,-0.03525996710430218,3.0345822203789683,15368.208633424492,6838.264252936562,sphere,-1.3647896503945296,-0.8857758472505631,2.2957585790102333,3834.7713177657706,6244.477394088444,0.05249938368797302,-0.0016349582001566887,-0.03161517530679703,-0.2816198766231537,0.6552096605300903,0.6441616415977478,-0.2764892280101776,0.06799137592315674,0.5805333852767944,1.956607460975647,0.044886380434036255,0.01054947916418314,0.2796475887298584,0.9589948654174805,1189,1,,2.0456485748291016,0.34115445473279554,0.0,0.007384299300611019,0.5399495374264087,12,release,0.042293429374694824,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c4_p002_e007,1,True,-0.13321971893310547,0.4499969482421875,-0.0008764186901277257,-0.00213814109930598,7.748524637100701,pcr_384_red,0.5296335220336914,0.1062154769897461,-91.34418654391534,0.16677815887302766,1216.6487915644495,rect,0.8515252849342446,-3.18992791743522e-05,2.8029979716486233,8912.644801697168,6541.34366111776,sphere,1.6312951027361375,0.855782565142938,2.7819152076599183,3960.9808616632313,4982.60169523329,0.053372036665678024,0.0036084505263715982,-0.02907498925924301,-0.27847447991371155,0.6562659740447998,0.6443724036216736,-0.27667880058288574,0.045494578778743744,0.5663745403289795,1.9324513673782349,0.04075014591217041,0.01848364807665348,0.28104737401008606,0.9586501717567444,1262,1,,2.04681658744812,0.2958219607378096,0.0,0.006839052774012089,0.5047543581616482,12,release,0.042120933532714844,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c4_p002_e008,2,True,-0.07595157623291016,0.44745349884033203,0.006315998358962967,-0.006499270263973896,11.531517076388184,deep_well_24_10ml,0.4789714813232422,0.05381488800048828,-88.34825443215077,0.29034773320610924,1451.3443345874616,rect,-0.05400338949177674,0.09237480165302747,2.867901535176673,8383.765621897805,4166.810612900868,disk,-1.0649198876892676,0.9352166550943488,1.9992233923784082,10867.81892002638,5948.079351159917,0.0486464649438858,-0.0046741412952542305,-0.02716047875583172,-0.283625990152359,0.6408904194831848,0.6610515713691711,-0.2680048942565918,0.05816757678985596,0.5959747433662415,1.9697424173355103,0.052000969648361206,0.025135990232229233,0.266117662191391,0.96220862865448,1214,1,,2.104262113571167,0.3261340278943463,0.0,0.007471263874322176,0.528830313014827,12,release,0.04242110252380371,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c4_p002_e009,3,True,0.0048732757568359375,0.45001792907714844,0.012069449849557183,-0.011044808973637452,11.053970844608443,plate_384_white,0.49127864837646484,0.06891345977783203,-92.58880970116354,0.2376727544428466,1216.6487915644495,rect,0.8910212431223844,-0.27178295563050975,2.663261940443407,13633.711213497156,3247.0336852918235,sphere,0.5040894999451209,-0.5034716998889777,1.795165808280205,2540.2914672082416,3169.0706404712087,0.051066312938928604,0.0027327348943799734,-0.029805520549416542,-0.27479714155197144,0.6562149524688721,0.6487183570861816,-0.27024605870246887,0.02519400417804718,0.5662321448326111,1.9400368928909302,0.02740968018770218,0.018826903775334358,0.2785038948059082,0.9598592519760132,1302,1,,2.0149781703948975,0.2587345579310368,0.0,0.007404589094221592,0.543010752688172,12,release,0.042176008224487305,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c4_p002_e010,1,True,0.006122589111328125,0.4499998092651367,-0.002358829031962233,-0.01179019706474224,8.484672476609859,plate_96_white,0.5296335220336914,0.1062154769897461,-91.34418654391534,0.18825070994516,1451.3443345874616,rect,0.5241599578848214,-0.25141300582509707,2.654285239094115,15475.009838115406,4895.843178700383,sphere,0.2825679917491959,1.1952654025360807,1.7930440324930936,8323.11881098626,6994.240595414209,0.05324520543217659,0.0019202502444386482,-0.028492586687207222,-0.2823043465614319,0.658456563949585,0.6397303938865662,-0.2783600091934204,0.045494578778743744,0.5663745403289795,1.9324513673782349,0.04075014591217041,0.01848364807665348,0.28104737401008606,0.9586501717567444,1307,1,,2.118966579437256,0.3183352563511946,0.0,0.007255720905959606,0.541698546289212,12,release,0.04211068153381348,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c4_p002_e011,0,True,-0.020936965942382812,0.44768810272216797,-0.0009746120237021218,0.009770668366288022,9.180083825250904,plate_6_clear,0.5132904052734375,0.09563636779785156,-90.50000534689879,0.15453788072081506,1451.3443345874616,rect,0.49331197867859256,0.12431743271299334,3.0328953355068866,13781.217697216358,5358.2745781730055,sphere,1.3051496575044261,-0.29774066182017966,1.7538373532646896,1717.7539854654024,7077.653468388367,0.051737356930971146,-0.0010886464733630419,-0.03382803872227669,-0.2816832661628723,0.655513346195221,0.6417310833930969,-0.28131482005119324,0.06799137592315674,0.5805333852767944,1.956607460975647,0.044886380434036255,0.01054947916418314,0.2796475887298584,0.9589948654174805,1270,1,,2.0800106525421143,0.28082440725403524,0.0,0.007378482259809971,0.5582677165354331,12,release,0.042793095111846924,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c4_p002_e012,2,True,0.023441314697265625,0.4499998092651367,-0.015569021960736775,-0.010395571293965223,-10.253917896580646,deep_well_24_10ml,0.4789714813232422,0.05381488800048828,-88.34825443215077,0.2941823913152411,1451.3443345874616,rect,0.697536426781716,0.17705100833332843,2.7393104438027,7502.2855757821,4798.8551519674475,disk,0.9995865874317511,1.0823790429708555,2.7663462632813416,4865.467400467987,5408.997499624578,0.050258737057447433,-0.002330990042537451,-0.02865740656852722,-0.2897967994213104,0.6391206383705139,0.6579251885414124,-0.2732711136341095,0.05816757678985596,0.5959747433662415,1.9697424173355103,0.052000969648361206,0.025135990232229233,0.266117662191391,0.96220862865448,1143,1,,2.1472933292388916,0.27089114726204555,0.0,0.007518686354160309,0.5590551181102362,12,release,0.04221343994140625,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c4_p002_e013,1,True,0.058406829833984375,0.4499998092651367,-0.004427894819717851,-0.009582526476955002,4.642672341191087,pcr_384_red,0.5296335220336914,0.1062154769897461,-91.34418654391534,0.19587125977981623,1451.3443345874616,rect,-0.20003373826136822,-0.4755359145885908,2.8037697685572645,7725.584354022309,7040.18177845928,sphere,1.3087983800594554,1.4817812742616556,2.614082767219837,5365.526119105607,6229.266695825919,0.04975298419594765,0.0026413113810122013,-0.028147822245955467,-0.2788975238800049,0.6607436537742615,0.6378777027130127,-0.28061723709106445,0.045494578778743744,0.5663745403289795,1.9324513673782349,0.04075014591217041,0.01848364807665348,0.28104737401008606,0.9586501717567444,1187,1,,2.069378614425659,0.31029896878615004,0.0,0.006861546076834202,0.531592249368155,12,release,0.042199134826660156,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c4_p002_e014,3,True,-0.14232540130615234,0.4475212097167969,-0.002334294067344894,0.0022165378050917808,0.3581284419438475,plate_96_clear,0.49127864837646484,0.06891345977783203,-92.58880970116354,0.26603522389150996,1451.3443345874616,rect,0.01844041873168578,0.3557434654832916,2.912418204151493,6825.184216336811,6818.362877546984,sphere,1.163185604877489,1.3726026224710102,2.4133559284788584,3798.412600738682,3051.30076087598,0.05144777521491051,0.001927184872329235,-0.03116668574512005,-0.2791782319545746,0.6535735130310059,0.6488808989524841,-0.2717623710632324,0.02519400417804718,0.5662321448326111,1.9400368928909302,0.02740968018770218,0.018826903775334358,0.2785038948059082,0.9598592519760132,1213,1,,2.125715494155884,0.2645939635552475,0.0,0.007300431840121746,0.5210222588623248,12,release,0.0423429012298584,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c4_p002_e015,0,True,0.08610057830810547,0.45000362396240234,-0.01136394890313721,0.008865131664404412,-4.478853666908179,plate_6_clear,0.5132904052734375,0.09563636779785156,-90.50000534689879,0.24865581139005727,1359.8341767410732,rect,0.33249131913596874,0.25156497507513376,3.1062191379157333,15238.512290471554,4215.955275656226,sphere,-1.2958112940225304,-0.5100918067055362,2.4410324155058425,7683.748634564414,6294.362797724856,0.05154479295015335,-0.0006490919040516019,-0.030392734333872795,-0.2925942838191986,0.6522892117500305,0.6370819211006165,-0.2881561517715454,0.06799137592315674,0.5805333852767944,1.956607460975647,0.044886380434036255,0.01054947916418314,0.2796475887298584,0.9589948654174805,1204,1,,2.107858896255493,0.3496764794526544,0.0,0.0073852213099598885,0.5348837209302325,12,release,0.04217374324798584,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c4_p002_e016,3,True,-0.07307815551757812,0.4474191665649414,0.002920967007956122,0.002902890272722106,6.021509787287982,plate_96_clear,0.49127864837646484,0.06891345977783203,-92.58880970116354,0.22901266770286113,1359.8341767410732,rect,-0.2897862495202207,0.549890303729692,2.980454692235758,13488.495561895576,6766.903584459629,sphere,-1.1090523186546815,0.28257746260239847,1.6309640926314217,9430.2788079087,3773.1021010950817,0.05085242539644241,0.002047804882749915,-0.029315991327166557,-0.2802738547325134,0.6534464359283447,0.6497925519943237,-0.26874515414237976,0.02519400417804718,0.5662321448326111,1.9400368928909302,0.02740968018770218,0.018826903775334358,0.2785038948059082,0.9598592519760132,1205,1,,2.0632095336914062,0.28143666012814667,0.0,0.007257657125592232,0.5327800829875519,12,release,0.04228711128234863,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c4_p002_e017,2,True,-0.018026351928710938,0.45000362396240234,0.0012541731286236659,-0.0018033345676224635,-7.885390473254375,plate_1536_black,0.4789714813232422,0.05381488800048828,-88.34825443215077,0.22975546918370332,1359.8341767410732,rect,-0.27934539694478766,-0.11738041799324656,2.9278400966989153,9786.293039608201,6461.882669887977,disk,-1.0769671112500498,-0.5070478549376523,2.0388790563935926,5120.410323365784,6883.629961385171,0.04870060086250305,-0.0008753625443205237,-0.027999913319945335,-0.2895970046520233,0.6408397555351257,0.6573749780654907,-0.27076953649520874,0.05816757678985596,0.5959747433662415,1.9697424173355103,0.052000969648361206,0.025135990232229233,0.266117662191391,0.96220862865448,1264,1,,2.0880672931671143,0.2773824268324753,0.0,0.007342502474784851,0.5537974683544303,12,release,0.042517900466918945,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c4_p002_e018,1,True,0.10456275939941406,0.4479541778564453,-0.005105682197223322,-0.003576640188847467,-2.381860630213538,deep_well_96_1ml,0.5296335220336914,0.1062154769897461,-91.34418654391534,0.29545232328051496,381.93965400579907,rect,-0.04101217427203385,-0.11025560883687952,2.884567161234446,13287.638151142994,5030.867734739538,sphere,0.21228928659911506,-0.0835145412329763,1.703229085673366,9165.349396779759,3958.663201929872,0.05267709121108055,0.003303456585854292,-0.028997866436839104,-0.27780434489250183,0.6577233076095581,0.6413210034370422,-0.280948668718338,0.045494578778743744,0.5663745403289795,1.9324513673782349,0.04075014591217041,0.01848364807665348,0.28104737401008606,0.9586501717567444,1248,1,,2.087226152420044,0.2562180528967892,0.0,0.0074718669056892395,0.5120192307692307,12,release,0.042353153228759766,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c4_p002_e019,0,True,0.1318349838256836,0.4500007629394531,0.003891287675102059,-0.01124467127587412,-11.155784570354967,pcr_96_blue,0.5132904052734375,0.09563636779785156,-90.50000534689879,0.29089733243594373,381.93965400579907,rect,-0.22093210298515914,-0.4185550426105834,2.9361951939019053,6304.715958854713,6561.354613612821,sphere,1.0824392589049028,0.23275594749429485,2.206552918572626,4813.420659143386,4286.154371450979,0.05123669654130936,-0.0020700213499367237,-0.03371740132570267,-0.28777891397476196,0.6532225012779236,0.6420851945877075,-0.2796609699726105,0.06799137592315674,0.5805333852767944,1.956607460975647,0.044886380434036255,0.01054947916418314,0.2796475887298584,0.9589948654174805,1261,1,,2.10032057762146,0.2919327331856372,0.0,0.006888086907565594,0.5130848532910388,12,release,0.04207909107208252,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e000,2,True,0.1153554916381836,0.45000362396240234,-0.010615595145115307,-0.007490762680133067,8.823634947394538,plate_384_black,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.15762390198698684,641.3318422246905,rect,0.7277507870850263,0.5419221938788885,3.074608495635918,5271.674772855219,3216.754173088947,sphere,-1.3189072621519737,1.1262001254159182,2.7131106048811064,8978.156921553556,4106.338044999294,0.05310986563563347,0.0013820088934153318,-0.033914484083652496,-0.27563634514808655,0.6563647985458374,0.6413841843605042,-0.28607016801834106,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1178,1,,2.0758495330810547,0.23420363064746894,0.0,0.007416459731757641,0.5483870967741935,12,release,0.0426325798034668,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e001,3,True,0.13275146484375,0.4500007629394531,0.0012788448102190534,0.0014343551026507724,4.452320180480257,plate_48_clear,0.49652099609375,0.10860252380371094,-85.19918019676528,0.15096005178906094,641.3318422246905,rect,0.7781540268099717,-0.43191020753524617,2.617084652535925,9244.52560296798,5337.866746703284,disk,-1.3321427219372615,1.0871427084498098,2.1430752885017936,2605.1666955983733,6844.557324073584,0.04888688772916794,-0.0010503542143851519,-0.031837884336709976,-0.2940499782562256,0.6451185345649719,0.6452704071998596,-0.2845746576786041,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1188,1,,2.1172285079956055,0.3312588877759739,0.0,0.0072698285803198814,0.5303030303030303,12,release,0.042151570320129395,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e002,0,True,-0.08492183685302734,0.4499988555908203,0.002079890207834192,-0.0056095395729772665,0.6749868698718444,plate_96_black,0.5240573883056641,0.07274436950683594,-92.35604356452703,0.26366796200490994,641.3318422246905,rect,0.8905082174194342,0.5308279324081089,2.9488096934478,8751.67001971132,3643.2980269698724,disk,1.3682601810763182,0.4600819903929634,1.6246211849396857,9645.254372496187,6327.7109555209845,0.05435808375477791,0.001181629253551364,-0.032448817044496536,-0.2854441702365875,0.6374122500419617,0.6560965776443481,-0.28594493865966797,0.04742719978094101,0.6044167876243591,1.932394027709961,0.027882859110832214,0.0035898967180401087,0.2583003640174866,0.965655505657196,1233,1,,2.075439929962158,0.31880269043794535,0.0,0.007254593539983034,0.5182481751824818,12,release,0.04206240177154541,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e003,1,True,0.14936065673828125,0.4499979019165039,0.0142250840515023,0.010959524071087948,-3.563055618238792,plate_96_white,0.5098752975463867,0.08571529388427734,-89.33759700102298,0.2711316999588719,641.3318422246905,rect,0.2093440210813201,0.5405589569553344,2.734917132499536,9582.989427024415,3404.3892481165917,sphere,-0.3727506395967468,0.4671220695238767,2.5804100391937768,5000.59544479203,4644.626824743661,0.05162687227129936,-0.0004769909428432584,-0.03203599900007248,-0.2668597400188446,0.6536357402801514,0.6510766744613647,-0.27864909172058105,0.07115355134010315,0.5745897889137268,1.9365365505218506,0.030086036771535873,0.027584834024310112,0.28576159477233887,0.9574310779571533,1259,1,,2.0612566471099854,0.2938552662085802,0.0,0.0072904606349766254,0.5067513899920572,12,release,0.04221940040588379,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e004,2,True,-0.13255786895751953,0.45000267028808594,-0.00019703598201659218,0.007103903945194179,-3.8183040548033205,plate_384_black,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.22381299788732759,1328.7680804426109,rect,0.39959055706107416,0.29567346812137296,2.7749605805521553,8964.946857223717,5894.170867044266,sphere,0.6222487615359369,1.153563837594256,2.576391540478769,8547.78462323402,5021.648724101808,0.05313076823949814,0.004010187461972237,-0.03257938101887703,-0.2819107174873352,0.654394268989563,0.640350878238678,-0.286784291267395,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1210,1,,2.0915982723236084,0.30133938053351617,0.0,0.007425340358167887,0.5223140495867769,12,release,0.04227614402770996,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e005,0,True,0.059746742248535156,0.45000267028808594,-0.01488761177776636,-0.0037840050046622003,-6.802290331148157,plate_6_clear,0.5240573883056641,0.07274436950683594,-92.35604356452703,0.16001880244888475,1328.7680804426109,rect,-0.1888795872931338,-0.05664232062617247,2.6361006747792612,6336.123210276401,5792.2772001876765,disk,-1.3255988163914114,0.1370416056801873,2.651346863210194,2903.364935021423,3530.9882259917017,0.052452750504016876,0.0017525164876133204,-0.02998390607535839,-0.2903309464454651,0.6415798664093018,0.6520717144012451,-0.2808660864830017,0.04742719978094101,0.6044167876243591,1.932394027709961,0.027882859110832214,0.0035898967180401087,0.2583003640174866,0.965655505657196,1218,1,,2.1106152534484863,0.29034415146144454,0.0,0.0073789809830486774,0.5303776683087028,12,release,0.04225730895996094,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e006,3,True,-0.07586956024169922,0.45000362396240234,0.006136211754156493,-0.008873092572237874,7.412562136245555,plate_384_white,0.49652099609375,0.10860252380371094,-85.19918019676528,0.18225405906348602,1328.7680804426109,rect,0.8663387724351398,0.2057790783420571,2.6403503636169945,15791.382262591322,3835.1994642847344,disk,-0.8989944920480688,-1.1006218024336514,2.20797561491277,6164.855563973242,3528.122720192925,0.04791274666786194,0.00046354212099686265,-0.03194443881511688,-0.2917764484882355,0.6423921585083008,0.6508145332336426,-0.28042691946029663,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1252,1,,2.131218910217285,0.2501315320624546,0.0,0.007380358874797821,0.5111821086261981,12,release,0.042406558990478516,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e007,1,True,0.10950756072998047,0.44725513458251953,0.01395005565330721,0.0022102231378705517,-6.035655869546048,pcr_384_red,0.5098752975463867,0.08571529388427734,-89.33759700102298,0.21234792343585196,1328.7680804426109,rect,0.24508526771459327,-0.37368006720950203,2.774827018679595,12958.0662967897,6358.583412194755,sphere,-1.0868834896343933,-0.7306130380823281,1.784917089065,7044.583521395836,7078.6980841753675,0.05005936324596405,-0.0014097066596150398,-0.03215690329670906,-0.2712140679359436,0.6538172364234924,0.6476182341575623,-0.2820577323436737,0.07115355134010315,0.5745897889137268,1.9365365505218506,0.030086036771535873,0.027584834024310112,0.28576159477233887,0.9574310779571533,1207,1,,2.0418684482574463,0.26430009862188875,0.0,0.0068407198414206505,0.5294117647058824,12,release,0.042156219482421875,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e008,3,True,-0.04325103759765625,0.4499998092651367,-0.012145046611644048,0.0032844388439797418,-0.3862655159765609,plate_96_clear,0.49652099609375,0.10860252380371094,-85.19918019676528,0.17048803144684158,919.1314126441674,rect,-0.24650289339076692,-0.21379433564061057,2.636285740666319,4632.120930122229,4602.128890437882,disk,0.7370271351438764,-0.4162109978766847,2.0035828731817156,5182.516814828537,5012.887528060493,0.04884913191199303,0.001228412613272667,-0.03038310818374157,-0.29538559913635254,0.6413668990135193,0.6522998213768005,-0.27550092339515686,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1197,1,,2.0808122158050537,0.3156775591411507,0.0,0.007284156046807766,0.5338345864661654,12,release,0.042139291763305664,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e009,2,True,0.014575958251953125,0.45000267028808594,0.0002477598035156761,-0.0060510715462342365,8.189825073684347,plate_24_clear,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.19244993229589513,919.1314126441674,rect,0.6673672915858923,0.09380374895043175,2.9425357153668474,4935.656470080758,3946.244583823105,sphere,-0.6876657516870882,1.2675389940506234,2.202374227163428,6070.283433361514,6802.0894306154605,0.05058290436863899,0.0035690420772880316,-0.03137874975800514,-0.2776923179626465,0.6538603901863098,0.6430693864822388,-0.28603389859199524,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1290,1,,2.1381752490997314,0.2690697376130707,0.0,0.007340032607316971,0.4937984496124031,12,release,0.0425715446472168,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e010,0,True,0.14124774932861328,0.4470329284667969,-0.006563996377917158,-0.01097175314052317,4.522130081059174,pcr_96_blue,0.5240573883056641,0.07274436950683594,-92.35604356452703,0.24526137774436008,919.1314126441674,rect,0.06633546115056366,-0.07951362891965108,2.7562514213862275,8713.412255506155,5184.415158476561,disk,1.3350859374363901,0.7015867924618282,2.682731215796958,10384.373210826789,5282.425713937613,0.05483085662126541,5.880459866602905e-05,-0.030672729015350342,-0.29013118147850037,0.639348566532135,0.6548943519592285,-0.2795902490615845,0.04742719978094101,0.6044167876243591,1.932394027709961,0.027882859110832214,0.0035898967180401087,0.2583003640174866,0.965655505657196,1232,1,,2.053849458694458,0.24435924453960697,0.0,0.006843375973403454,0.5137987012987013,12,release,0.04215949773788452,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e011,1,True,-0.035368919372558594,0.44745635986328125,0.003779809580574232,0.00838198141628096,-9.78345534307428,plate_96_white,0.5098752975463867,0.08571529388427734,-89.33759700102298,0.20227629113426018,919.1314126441674,rect,0.5220897604893214,-0.08877528561463077,3.0003200959137,9158.075449867792,6160.013810611603,sphere,0.4393377663494551,-0.5179368812550074,2.34434822347678,5465.82306079905,5201.226704645656,0.05027635022997856,0.0007663845317438245,-0.03208646923303604,-0.2711575925350189,0.6528964638710022,0.6486089825630188,-0.2819683253765106,0.07115355134010315,0.5745897889137268,1.9365365505218506,0.030086036771535873,0.027584834024310112,0.28576159477233887,0.9574310779571533,1268,1,,2.0900845527648926,0.2608526958946767,0.0,0.007303963880985975,0.5512618296529969,12,release,0.04240775108337402,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e012,3,True,0.10692310333251953,0.44736385345458984,-0.013478631672639605,-0.0043538659947564345,-8.215609427596092,reservoir_12ch,0.49652099609375,0.10860252380371094,-85.19918019676528,0.29199321127266825,919.1314126441674,rect,-0.1751498053717528,0.27196835147280984,2.8435737208725356,8928.796799736177,6248.641947248382,disk,-1.5384017115313628,0.2186927604600799,2.49498032090568,9881.632922425077,3104.2904890768255,0.04914276301860809,-0.0015753651969134808,-0.03217753395438194,-0.2915031611919403,0.6414857506752014,0.6518098711967468,-0.2804742455482483,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1184,1,,2.0903613567352295,0.25775430515620473,0.0,0.00745296198874712,0.5371621621621622,12,release,0.04247766733169556,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e013,2,True,0.021864891052246094,0.45000457763671875,0.00891165766527996,-0.002884282738021845,10.971691674607513,deep_well_24_10ml,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.25060511027114074,977.1184459409112,rect,0.625780295387297,0.4441891910186244,3.053467963040282,6512.507606348856,4536.95843147206,sphere,0.4569963295009125,-0.46050102578407004,2.463634690980334,2242.4288802304945,4651.442462600526,0.051600996404886246,0.0027543704491108656,-0.031032348051667213,-0.2777576744556427,0.6547814607620239,0.6441901922225952,-0.2813021242618561,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1212,1,,2.1443989276885986,0.30348461731792264,0.0,0.007517696358263493,0.5321782178217822,12,release,0.0433354377746582,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e014,0,True,0.009735107421875,0.45000267028808594,-0.009410785244686434,-0.0010373056559988497,7.700777661844143,plate_96_black,0.5240573883056641,0.07274436950683594,-92.35604356452703,0.27002245665734637,977.1184459409112,rect,0.6129476276163518,-0.24012553162712036,2.9095146300324948,5970.6597268194655,7015.986536047355,disk,-0.06309349569794231,0.1993742682838997,2.3670566116940677,6123.678054617609,2807.1853169662445,0.05115799978375435,0.0013091674773022532,-0.029784221202135086,-0.2923572063446045,0.6396093964576721,0.655370831489563,-0.2755288779735565,0.04742719978094101,0.6044167876243591,1.932394027709961,0.027882859110832214,0.0035898967180401087,0.2583003640174866,0.965655505657196,1231,1,,2.1031904220581055,0.28698108107523407,0.0,0.007256549783051014,0.5759545085296507,12,release,0.042540788650512695,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e015,1,True,0.07276344299316406,0.4499969482421875,-0.011864604654525695,0.0043365144820831664,10.734575491666106,plate_12_clear,0.5098752975463867,0.08571529388427734,-89.33759700102298,0.20004135250053437,977.1184459409112,rect,-0.3040022353453038,-0.32329577135243276,2.820255785328331,8796.161737035214,4963.98894975073,sphere,1.7877162102102062,1.146111966948706,2.294222909287848,2140.5225311492636,7334.161815175278,0.0505189448595047,-0.0014124931767582893,-0.03232402354478836,-0.26853400468826294,0.6538974046707153,0.6477563381195068,-0.28411155939102173,0.07115355134010315,0.5745897889137268,1.9365365505218506,0.030086036771535873,0.027584834024310112,0.28576159477233887,0.9574310779571533,1251,1,,2.038084030151367,0.2992638204827042,0.0,0.00731896236538887,0.5059952038369304,12,release,0.04226332902908325,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e016,3,True,0.1030435562133789,0.45000362396240234,0.01294891961467157,0.0009489114425226155,-1.7876506433024417,plate_384_white,0.49652099609375,0.10860252380371094,-85.19918019676528,0.24854022452450908,977.1184459409112,rect,0.5608819653507208,0.4621403086810453,3.0229704483023183,4289.528878286004,3883.2987471546558,disk,0.8842079081554894,0.3778960076471758,2.6675278029537757,8072.919061214771,6252.316065737277,0.04832370579242706,-0.00042511773062869906,-0.03092491440474987,-0.29331910610198975,0.6392640471458435,0.6536194086074829,-0.27944064140319824,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1196,1,,2.0625922679901123,0.29080817617061155,0.0,0.007418511901050806,0.5392976588628763,12,release,0.042288780212402344,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e017,2,True,0.01522064208984375,0.45000362396240234,0.0029961025198952185,0.003049233047283205,3.6888864841040743,plate_384_black,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.19103135596987164,977.1184459409112,rect,-0.4420721529824843,0.5596242027284781,3.1266706835870397,12717.843130859825,5291.094994253353,sphere,-1.3652935927481178,1.008878415827961,2.7766254545456537,2534.3449882284112,2877.771281262147,0.05675393342971802,0.0024432784412056208,-0.0343930646777153,-0.2765558063983917,0.6587831377983093,0.6377527117729187,-0.28773796558380127,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1188,1,,2.0792124271392822,0.28711042160376643,0.0,0.007379333488643169,0.5387205387205387,12,release,0.042267799377441406,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e018,0,True,0.049973487854003906,0.4500007629394531,-0.011833650392542338,0.006379228911882693,-0.1445409083731306,plate_6_clear,0.5240573883056641,0.07274436950683594,-92.35604356452703,0.24410815625437088,1399.2940716874919,rect,0.002249211440205623,-0.35163160281776085,2.736332230927687,13466.891136240325,3562.686870297177,disk,1.7173049053752698,1.010204213864106,2.6052928892361478,4810.7306947840325,6319.220026660252,0.05218871310353279,0.0007798699662089348,-0.030329393222928047,-0.28989261388778687,0.6383031010627747,0.6575785875320435,-0.2759018540382385,0.04742719978094101,0.6044167876243591,1.932394027709961,0.027882859110832214,0.0035898967180401087,0.2583003640174866,0.965655505657196,1257,1,,2.1317057609558105,0.28767689913542194,0.0,0.007379264570772648,0.5059665871121718,12,release,0.04229247570037842,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e019,1,True,-0.08814716339111328,0.4474506378173828,0.006330355223853083,0.008397362825120045,-2.1839694484339987,plate_12_clear,0.5098752975463867,0.08571529388427734,-89.33759700102298,0.2680256265183081,1399.2940716874919,rect,0.8028743808449678,-0.45668548513643137,2.93244244600277,12044.82056072282,3753.740898892515,sphere,-0.49833880000971464,0.6310613118360902,2.2852010543811154,6127.465019276864,7422.373546763286,0.048392314463853836,-0.00042570961522869766,-0.0320572555065155,-0.2694630026817322,0.6524335741996765,0.6503413915634155,-0.28067106008529663,0.07115355134010315,0.5745897889137268,1.9365365505218506,0.030086036771535873,0.027584834024310112,0.28576159477233887,0.9574310779571533,1214,1,,2.05287766456604,0.24819113667239598,0.0,0.007350816857069731,0.5247116968698518,12,release,0.042305946350097656,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e020,3,True,-0.02848339080810547,0.4500007629394531,0.008911185945253246,0.011797631560162176,-9.703589079637482,plate_96_clear,0.49652099609375,0.10860252380371094,-85.19918019676528,0.17154898227210183,1399.2940716874919,rect,0.8616428304972935,-0.4144372032244247,2.8083268514521733,7831.9278245619735,6503.352272536744,disk,1.6232559674482046,1.3589597539545826,2.222381568452205,8185.188580438681,4187.713962389171,0.050064899027347565,-0.001230432535521686,-0.032682936638593674,-0.3014373183250427,0.6402134299278259,0.6500970721244812,-0.2768322229385376,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1276,1,,2.078265905380249,0.32926818847431694,0.0,0.007318045012652874,0.54858934169279,12,release,0.04219985008239746,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e021,2,True,0.026895523071289062,0.44698429107666016,0.008723542039679696,0.0016759739937136002,-6.700749305112822,deep_well_24_10ml,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.216041225752519,981.1971784804381,rect,0.13843050843752125,-0.07450762934882865,3.0278439356492455,12003.952364518955,3327.4992335530756,sphere,-0.26222693894197224,1.5493172268755202,2.3702045522490858,6928.1274201910055,6606.740183134139,0.053862519562244415,0.0021095082629472017,-0.03140595182776451,-0.2727507948875427,0.6540517807006836,0.6488571763038635,-0.27714189887046814,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1211,1,,2.0678606033325195,0.331280216107203,0.0,0.007480292581021786,0.5334434351775392,12,release,0.04218161106109619,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e022,0,True,0.10647201538085938,0.45000457763671875,0.01318604750467235,0.008265759408206832,-10.020153616701776,plate_6_clear,0.5240573883056641,0.07274436950683594,-92.35604356452703,0.21057629277107576,981.1971784804381,rect,0.41510202080186887,-0.4591936355934163,3.0871874646027737,5232.272170386768,3702.512764551072,disk,0.8649246960614518,-0.8068777146535775,2.579161475873005,2768.261214544268,6529.477867171439,0.05290286988019943,0.0005656067514792085,-0.03035908378660679,-0.29095640778541565,0.636890172958374,0.6561054587364197,-0.281497597694397,0.04742719978094101,0.6044167876243591,1.932394027709961,0.027882859110832214,0.0035898967180401087,0.2583003640174866,0.965655505657196,1188,1,,2.0018155574798584,0.2767885867810162,0.0,0.007374437525868416,0.5437710437710438,12,release,0.042124032974243164,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e023,1,True,-0.06743812561035156,0.4474477767944336,0.009686075788546517,0.001638900207344131,7.813131038200993,pcr_384_red,0.5098752975463867,0.08571529388427734,-89.33759700102298,0.29071046458104416,981.1971784804381,rect,0.22845115599429766,-0.2570358335832108,2.7554058516606865,13399.96654197044,6678.565246307478,sphere,1.4206513175730446,-0.07737985450980145,1.6347607710943082,3406.387401953538,6899.111780662566,0.049991950392723083,0.0008864211267791688,-0.033479172736406326,-0.269766241312027,0.6507604122161865,0.6495356559753418,-0.2860777676105499,0.07115355134010315,0.5745897889137268,1.9365365505218506,0.030086036771535873,0.027584834024310112,0.28576159477233887,0.9574310779571533,1281,1,,2.081780195236206,0.30843480692213887,0.0,0.006795594468712807,0.501951600312256,12,release,0.04214507341384888,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e024,3,True,-0.04177665710449219,0.4499969482421875,0.0028638890601100707,0.006666181285827582,8.538259781227708,reservoir_12ch,0.49652099609375,0.10860252380371094,-85.19918019676528,0.1932120342141251,981.1971784804381,rect,-0.035114381645494075,-0.02296060162740854,2.826293513269456,13413.1092426979,6066.633507853721,disk,-0.8579609873672113,0.9385192024350484,2.4362735227821117,9573.371374117474,5140.313895537292,0.04942093789577484,0.003440978704020381,-0.03240474313497543,-0.2960463762283325,0.6436920762062073,0.6470538973808289,-0.28167060017585754,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1213,1,,2.093526840209961,0.29816353451460553,0.0,0.0073946802876889706,0.5292662819455894,12,release,0.04287600517272949,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e025,2,True,0.060394287109375,0.4500007629394531,-0.012320649634355479,0.006108019476293911,-0.6088974142492134,plate_1536_black,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.18337795536757298,778.9774354172171,rect,0.727129080842141,0.3728615109926361,2.91974021312344,12833.78275593698,3946.8531340258583,sphere,1.1904375761997148,0.8308785864747741,1.9630365175412434,4618.6346273798845,5358.75842443933,0.05290453881025314,0.001747594098560512,-0.03147685155272484,-0.2770697772502899,0.6556344628334045,0.6431247591972351,-0.28242942690849304,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1177,1,,2.1119534969329834,0.29156832423772977,0.0,0.007342010270804167,0.5514018691588785,12,release,0.04225289821624756,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e026,0,True,-0.09969520568847656,0.44722461700439453,0.00997680730357643,0.010389984129301751,4.878615214867125,deep_well_96_2ml,0.5240573883056641,0.07274436950683594,-92.35604356452703,0.20740657927835138,778.9774354172171,rect,-0.3981320560105719,0.30362208353433695,2.7354695536724964,5001.443759146284,3371.316899889771,disk,0.8387886418108135,-0.7950500100072762,2.460961648067748,8704.745755013857,6697.614826068898,0.05276215821504593,0.0006548481178469956,-0.03227675333619118,-0.2878606617450714,0.6378991007804871,0.6596657633781433,-0.27397459745407104,0.04742719978094101,0.6044167876243591,1.932394027709961,0.027882859110832214,0.0035898967180401087,0.2583003640174866,0.965655505657196,1226,1,,2.121920108795166,0.31917861392764724,0.0,0.007469138130545616,0.567699836867863,12,release,0.04270005226135254,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e027,1,True,-0.03836250305175781,0.45000267028808594,0.00836613539564386,-0.010795941517944274,-11.49636807395379,plate_96_white,0.5098752975463867,0.08571529388427734,-89.33759700102298,0.22301291825706693,778.9774354172171,rect,0.3701577787181417,0.42756636534757786,2.7536783220061682,10308.053756918549,7139.145005107615,sphere,1.066950131104441,-0.17615076616815117,1.7056044757865545,3349.715121064661,4402.116360530747,0.04972126707434654,-0.0014670826494693756,-0.030547993257641792,-0.26727330684661865,0.6545438170433044,0.6490509510040283,-0.2808385491371155,0.07115355134010315,0.5745897889137268,1.9365365505218506,0.030086036771535873,0.027584834024310112,0.28576159477233887,0.9574310779571533,1253,1,,2.076474189758301,0.27392056929765063,0.0,0.007308061234652996,0.5602553870710295,12,release,0.04250955581665039,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e028,3,True,0.0674886703491211,0.44721031188964844,-0.003427411988095874,0.008342013174174186,-10.096052812700918,reservoir_12ch,0.49652099609375,0.10860252380371094,-85.19918019676528,0.20650964066949937,778.9774354172171,rect,0.08451647434587628,-0.31336730631631504,2.675898010306634,11870.319933179879,5931.051488546715,disk,0.5124191499750395,-0.10662840919554406,2.587719775191953,9681.092267199872,5565.596864390578,0.04996481165289879,-0.00040147153777070343,-0.033919807523489,-0.2949388921260834,0.6453062295913696,0.6455666422843933,-0.282550185918808,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1158,1,,2.08046555519104,0.3144009421264354,0.0,0.007399416994303465,0.5466321243523317,12,release,0.04230296611785889,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e029,2,True,0.12616443634033203,0.4475879669189453,0.003927199890813103,0.006473201271481638,0.42645788328240997,deep_well_24_10ml,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.2924380731372705,1001.1842576494028,rect,-0.5355582068015055,0.2651494717302282,2.863299667709068,6047.781078516034,7007.209923135399,sphere,-0.7172232971677083,0.49115271871297383,1.6678431980528023,7553.7161132662595,4539.6811601627105,0.05176961049437523,0.0030097761191427708,-0.03226999193429947,-0.27461662888526917,0.6560266613960266,0.6417682766914368,-0.28696370124816895,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1226,1,,2.0943663120269775,0.23885499960804818,0.0,0.0075216349214315414,0.5220228384991843,12,release,0.04373025894165039,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e030,0,True,-0.032876014709472656,0.4474039077758789,0.007422933203548134,0.009287232027834267,11.407146411921133,pcr_96_blue,0.5240573883056641,0.07274436950683594,-92.35604356452703,0.19978446411626388,1001.1842576494028,rect,0.11439328037090257,0.5893157239110447,2.913885215321276,5715.006612161515,6037.15982177408,disk,-0.770868088452947,-1.0399802010789807,1.7659253141467157,10615.566486562699,5453.553399393413,0.05094645917415619,0.0009484345791861415,-0.029358994215726852,-0.29009249806404114,0.6328778862953186,0.6613938212394714,-0.2790522277355194,0.04742719978094101,0.6044167876243591,1.932394027709961,0.027882859110832214,0.0035898967180401087,0.2583003640174866,0.965655505657196,1300,1,,2.056015729904175,0.3217918197087227,0.0,0.006851237267255783,0.5407692307692308,12,release,0.04227226972579956,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e031,1,True,0.13837528228759766,0.45000171661376953,-0.013259413827272953,0.009556104612730619,-10.280619655328763,deep_well_96_1ml,0.5098752975463867,0.08571529388427734,-89.33759700102298,0.25501291556043454,1001.1842576494028,rect,0.7526206772533474,-0.02900625357720127,3.092452584774487,11360.392153359133,4620.0064928836955,sphere,-0.2164234497862907,0.9329828250833663,2.7663104947496278,4069.258827628851,5016.569656641315,0.05098159611225128,-0.0007943249656818807,-0.032781388610601425,-0.26697060465812683,0.655841052532196,0.6498535871505737,-0.2762056291103363,0.07115355134010315,0.5745897889137268,1.9365365505218506,0.030086036771535873,0.027584834024310112,0.28576159477233887,0.9574310779571533,1221,1,,2.1008360385894775,0.30535566672702186,0.0,0.007469741627573967,0.5274365274365275,12,release,0.04215875267982483,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e032,3,True,0.10063552856445312,0.45000171661376953,0.011126726456944626,-0.010860206521481687,10.250618292407381,reservoir_12ch,0.49652099609375,0.10860252380371094,-85.19918019676528,0.2770173160298066,1001.1842576494028,rect,-0.21681946546186326,-0.018335128201856454,3.090739007141058,12502.581747720871,6974.798307837895,disk,-0.2477813709665293,0.7761055326392998,2.2566924321139257,3583.1798356783697,4420.886301388977,0.04658370092511177,-0.0025411255192011595,-0.03306368738412857,-0.2952677607536316,0.6380928158760071,0.6503391265869141,-0.2875996232032776,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1230,1,,2.088693857192993,0.33153125073995426,0.0,0.007399681489914656,0.5235772357723577,12,release,0.042568087577819824,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e033,2,True,0.081787109375,0.45000362396240234,-0.011704606991674882,0.0018958576770038388,-3.202253809149539,plate_1536_black,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.228409755527189,1088.4040212621194,rect,-0.5431175721883907,0.5140563535401097,3.191498838287222,10336.331896650889,6699.067533864644,sphere,1.050850753106729,0.006864785633500237,1.719290690328437,1846.3099551250996,5930.803494758246,0.05347716435790062,0.0018306308193132281,-0.03185778856277466,-0.2791431248188019,0.6575397253036499,0.6419973373413086,-0.2784960865974426,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1251,1,,2.127610921859741,0.3343367370877818,0.0,0.007383561693131924,0.5075939248601119,12,release,0.042245686054229736,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e034,0,True,-0.1083383560180664,0.4500007629394531,0.01176457458318922,0.0009712102495627316,11.484442699431781,pcr_96_blue,0.5240573883056641,0.07274436950683594,-92.35604356452703,0.21225118488997485,1088.4040212621194,rect,-0.05636753007220896,-0.10444220596827486,3.1702042259846297,8452.64614761875,5962.433891863747,disk,0.3731863961824735,0.5801683347691426,2.0226635054164945,8165.694678341664,7238.86876627474,0.0534634105861187,0.0015877452678978443,-0.03195996955037117,-0.2889465391635895,0.6363019347190857,0.657871663570404,-0.2807750105857849,0.04742719978094101,0.6044167876243591,1.932394027709961,0.027882859110832214,0.0035898967180401087,0.2583003640174866,0.965655505657196,1203,1,,2.061108350753784,0.28338617554408574,0.0,0.006865356583148241,0.5303408146300914,12,release,0.042093902826309204,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e035,1,True,0.024509429931640625,0.4500007629394531,0.0034328818786971385,0.007208035116960543,-10.69081198191867,plate_96_white,0.5098752975463867,0.08571529388427734,-89.33759700102298,0.2904493116545849,1088.4040212621194,rect,0.08873072172742857,-0.47717780793132536,3.093684021749389,4028.7907641694605,4796.143336040808,sphere,-0.4209474677886882,1.0869161392613573,2.4599045240266464,8063.386656872011,6411.587678889895,0.048791028559207916,-0.00027348357252776623,-0.031088950112462044,-0.27166375517845154,0.6556819677352905,0.6460988521575928,-0.2807779312133789,0.07115355134010315,0.5745897889137268,1.9365365505218506,0.030086036771535873,0.027584834024310112,0.28576159477233887,0.9574310779571533,1221,1,,2.089707612991333,0.27931275030083036,0.0,0.007303864695131779,0.5184275184275184,12,release,0.04221796989440918,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e036,3,True,0.09034156799316406,0.4499931335449219,0.013915476270358948,-0.010350952485849909,-1.9941555191863927,reservoir_12ch,0.49652099609375,0.10860252380371094,-85.19918019676528,0.21297817410138803,1088.4040212621194,rect,0.7741660326045549,-0.3669238229449231,2.7920895122846416,8802.76928861708,6459.610601640443,disk,-1.0059498553455317,-0.09968409524210853,1.9455591130022283,2290.364701373542,4356.184362140162,0.05035725235939026,0.0011899592354893684,-0.032574720680713654,-0.2906247079372406,0.6419835686683655,0.653012752532959,-0.2774323523044586,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1211,1,,2.1207823753356934,0.30014522973352553,0.0,0.007447660900652409,0.5309661436829067,12,release,0.0421905517578125,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e037,2,True,0.014354705810546875,0.45003795623779297,-0.010717076616855985,-0.00527819000652387,7.460852309826407,plate_1536_black,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.2987944820561875,430.8988880488579,rect,0.46643836167221775,0.505490807520514,2.8573195294931892,12434.194192458815,6471.820678405973,sphere,-0.8705474347150163,0.963274500887376,1.7401562449461934,6359.580224738506,6209.409177356968,0.053081873804330826,0.003045779187232256,-0.0341159924864769,-0.2756721079349518,0.6531542539596558,0.6447126269340515,-0.28590214252471924,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1158,1,,2.0897514820098877,0.293729724389251,0.0,0.007379747461527586,0.5492227979274611,12,release,0.04202041029930115,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e038,0,True,-0.023664474487304688,0.44757652282714844,-0.0029160231472672546,-0.00845248404209808,8.667302095158789,pcr_96_blue,0.5240573883056641,0.07274436950683594,-92.35604356452703,0.2543495700978577,430.8988880488579,rect,0.7639458128843312,-0.24856520121921005,3.1097328866955243,10674.628927876798,7074.657422281092,disk,1.7515344051140747,-0.5487049321761517,1.8770736485610213,3338.6890284224955,4636.10910339642,0.05422429367899895,0.0018691436853259802,-0.03056330792605877,-0.28908082842826843,0.6389345526695251,0.6572946906089783,-0.275968462228775,0.04742719978094101,0.6044167876243591,1.932394027709961,0.027882859110832214,0.0035898967180401087,0.2583003640174866,0.965655505657196,1150,1,,2.0924458503723145,0.29030659137299714,0.0,0.006870717741549015,0.5608695652173913,12,release,0.042173147201538086,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p000_e039,1,True,-0.05192279815673828,0.4499998092651367,0.010109456176073246,0.004844641083464348,4.096379240578017,deep_well_96_1ml,0.5098752975463867,0.08571529388427734,-89.33759700102298,0.2779365574573408,430.8988880488579,rect,-0.33608394382409607,0.46007372322502726,3.138819401788253,8672.579341053639,4361.093092490981,sphere,-0.04659457202721784,-0.2044410716397812,2.234747477227556,3580.5960189188536,6422.508327512827,0.049052827060222626,-9.306125866714865e-05,-0.0334218330681324,-0.2753085196018219,0.6496850848197937,0.6503269672393799,-0.2814059555530548,0.07115355134010315,0.5745897889137268,1.9365365505218506,0.030086036771535873,0.027584834024310112,0.28576159477233887,0.9574310779571533,1274,1,,2.0842666625976562,0.3120652130858511,0.0,0.007469481788575649,0.5470957613814756,12,release,0.04258239269256592,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e000,0,True,0.14873218536376953,0.45000171661376953,-0.01162995138279673,0.0020614933996053624,10.612636350926522,pcr_96_blue,0.5098752975463867,0.08571529388427734,-89.33759700102298,0.2711316999588719,1062.812266262882,rect,0.2093440210813201,0.5405589569553344,2.734917132499536,9582.989427024415,3404.3892481165917,sphere,-0.3727506395967468,0.4671220695238767,2.5804100391937768,5000.59544479203,4644.626824743661,0.04959527775645256,-0.0015831419732421637,-0.032708413898944855,-0.2650853395462036,0.6567990183830261,0.649441123008728,-0.2767148017883301,0.07115355134010315,0.5745897889137268,1.9365365505218506,0.030086036771535873,0.027584834024310112,0.28576159477233887,0.9574310779571533,1204,1,,2.0946807861328125,0.32226973332891007,0.0,0.006840280257165432,0.5340531561461794,12,release,0.04218590259552002,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e001,1,True,0.11520957946777344,0.4500007629394531,-0.005960950116965095,0.010185911185499698,-4.938960426364673,plate_12_clear,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.15762390198698684,1062.812266262882,rect,0.7277507870850263,0.5419221938788885,3.074608495635918,5271.674772855219,3216.754173088947,sphere,-1.3189072621519737,1.1262001254159182,2.7131106048811064,8978.156921553556,4106.338044999294,0.05511540174484253,0.0025463481433689594,-0.03146272152662277,-0.2741906940937042,0.6593534350395203,0.6403311491012573,-0.28292855620384216,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1201,1,,2.0848469734191895,0.2804890921627819,0.0,0.007360422983765602,0.5362198168193172,12,release,0.04215407371520996,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e002,2,True,0.13294315338134766,0.4475746154785156,-0.0014978450102305402,0.003774860158051408,-4.2908562683391835,plate_384_black,0.49652099609375,0.10860252380371094,-85.19918019676528,0.15096005178906094,1062.812266262882,rect,0.7781540268099717,-0.43191020753524617,2.617084652535925,9244.52560296798,5337.866746703284,disk,-1.3321427219372615,1.0871427084498098,2.1430752885017936,2605.1666955983733,6844.557324073584,0.050621576607227325,-0.0021433664951473475,-0.03232371062040329,-0.29523220658302307,0.6449030637741089,0.6486190557479858,-0.27610018849372864,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1260,1,,2.139300584793091,0.3183075408687947,0.0,0.007376325316727161,0.5,12,release,0.042324721813201904,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e003,3,True,-0.008098602294921875,0.44722652435302734,0.01166769823006924,-0.008471997040584257,3.794385596604627,plate_96_clear,0.48097991943359375,0.1065673828125,-86.88794020368216,0.231089578900173,1062.812266262882,rect,-0.09190359788923053,0.3877097561574113,2.938850935820934,5032.355243837303,5155.48228209703,sphere,0.2318986427677956,-0.6421378310066389,1.7560140467083263,9977.106044244774,6050.314465882062,0.05127764865756035,0.0008778738556429744,-0.03219858184456825,-0.27512943744659424,0.6423712372779846,0.6638643741607666,-0.2663589417934418,0.06040199473500252,0.5785200595855713,1.9273682832717896,0.04209756478667259,0.0047531770542263985,0.28721940517425537,0.956927478313446,1245,1,,2.0732100009918213,0.33614236645819606,0.0,0.0073151905089616776,0.5662650602409639,12,release,0.04272043704986572,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e004,0,True,0.11004638671875,0.4499969482421875,0.007568736804526514,-0.01086275199119602,3.032865063134807,deep_well_96_2ml,0.5098752975463867,0.08571529388427734,-89.33759700102298,0.21234792343585196,1135.392619873196,rect,0.24508526771459327,-0.37368006720950203,2.774827018679595,12958.0662967897,6358.583412194755,sphere,-1.0868834896343933,-0.7306130380823281,1.784917089065,7044.583521395836,7078.6980841753675,0.05095912888646126,0.0010504138190299273,-0.0317668579518795,-0.2709527313709259,0.656926691532135,0.6454310417175293,-0.2800906002521515,0.07115355134010315,0.5745897889137268,1.9365365505218506,0.030086036771535873,0.027584834024310112,0.28576159477233887,0.9574310779571533,1221,1,,2.0837767124176025,0.2916809843293004,0.0,0.00752010615542531,0.5233415233415234,12,release,0.04286766052246094,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e005,2,True,-0.07589340209960938,0.44739818572998047,-0.009800147231885001,-0.004988605567253687,-0.9734202044007816,deep_well_24_10ml,0.49652099609375,0.10860252380371094,-85.19918019676528,0.18225405906348602,1135.392619873196,rect,0.8663387724351398,0.2057790783420571,2.6403503636169945,15791.382262591322,3835.1994642847344,disk,-0.8989944920480688,-1.1006218024336514,2.20797561491277,6164.855563973242,3528.122720192925,0.04910306632518768,0.001783931627869606,-0.03302120044827461,-0.29356318712234497,0.6409869194030762,0.6503814458847046,-0.2827727496623993,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1228,1,,2.1450355052948,0.2575592940002253,0.0,0.007528884336352348,0.5203583061889251,12,release,0.04235196113586426,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e006,1,True,-0.13192272186279297,0.4473562240600586,0.0069961101415270495,-0.0024210978962913307,6.6552643691928495,pcr_384_red,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.22381299788732759,1135.392619873196,rect,0.39959055706107416,0.29567346812137296,2.7749605805521553,8964.946857223717,5894.170867044266,sphere,0.6222487615359369,1.153563837594256,2.576391540478769,8547.78462323402,5021.648724101808,0.051472339779138565,0.0010432710405439138,-0.03017973154783249,-0.2805464565753937,0.65720534324646,0.6392927765846252,-0.28404155373573303,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1229,1,,2.1065096855163574,0.3027254382881103,0.0,0.006810424383729696,0.5199349064279902,12,release,0.04204726219177246,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e007,3,True,-0.148681640625,0.44744300842285156,-0.006320092425401079,0.0024561907915230693,-5.582719140906761,plate_48_clear,0.48097991943359375,0.1065673828125,-86.88794020368216,0.289087012472208,1135.392619873196,rect,-0.23553934261031373,-0.4180440657463963,3.117442178045673,8027.969980849415,5956.594543443729,sphere,1.3317149892606226,0.9141744812792265,1.7573282721804666,7222.218721845235,3513.137122630266,0.05311950668692589,0.00022365852782968432,-0.03125058859586716,-0.2825451195240021,0.6453666687011719,0.6561813354492188,-0.27036306262016296,0.06040199473500252,0.5785200595855713,1.9273682832717896,0.04209756478667259,0.0047531770542263985,0.28721940517425537,0.956927478313446,1210,1,,2.1186323165893555,0.2903132056264422,0.0,0.00728957774117589,0.5206611570247934,12,release,0.04230856895446777,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e008,0,True,-0.035186767578125,0.4474763870239258,0.009905984663389409,0.006136790920346023,10.708493796544218,plate_96_black,0.5098752975463867,0.08571529388427734,-89.33759700102298,0.20227629113426018,1273.2575332631745,rect,0.5220897604893214,-0.08877528561463077,3.0003200959137,9158.075449867792,6160.013810611603,sphere,0.4393377663494551,-0.5179368812550074,2.34434822347678,5465.82306079905,5201.226704645656,0.04981541633605957,0.002748640952631831,-0.03055916540324688,-0.27169767022132874,0.6542626023292542,0.6484854221343994,-0.2785453498363495,0.07115355134010315,0.5745897889137268,1.9365365505218506,0.030086036771535873,0.027584834024310112,0.28576159477233887,0.9574310779571533,1225,1,,2.1331396102905273,0.2667003415804328,0.0,0.007304945960640907,0.5746938775510204,12,release,0.04272258281707764,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e009,1,True,0.014987945556640625,0.45000457763671875,-0.0009181685504041596,0.011440218225352301,1.514515473669661,pcr_384_red,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.19244993229589513,1273.2575332631745,rect,0.6673672915858923,0.09380374895043175,2.9425357153668474,4935.656470080758,3946.244583823105,sphere,-0.6876657516870882,1.2675389940506234,2.202374227163428,6070.283433361514,6802.0894306154605,0.054076045751571655,0.0013404127676039934,-0.030981983989477158,-0.27519556879997253,0.6540988683700562,0.6441463232040405,-0.2854778468608856,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1218,1,,2.1248397827148438,0.2739746551466635,0.0,0.006841008551418781,0.5205254515599343,12,release,0.04216790199279785,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e010,2,True,-0.04391765594482422,0.45000171661376953,0.004508979132731149,0.0029582871139276694,-5.799687500009583,plate_1536_black,0.49652099609375,0.10860252380371094,-85.19918019676528,0.17048803144684158,1273.2575332631745,rect,-0.24650289339076692,-0.21379433564061057,2.636285740666319,4632.120930122229,4602.128890437882,disk,0.7370271351438764,-0.4162109978766847,2.0035828731817156,5182.516814828537,5012.887528060493,0.04735271632671356,-0.0003563050995580852,-0.030320119112730026,-0.2897644340991974,0.6407720446586609,0.6544812321662903,-0.2776726484298706,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1333,1,,2.093928098678589,0.30259358841012146,0.0,0.007341736927628517,0.5243810952738185,12,release,0.042308807373046875,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e011,3,True,-0.13700103759765625,0.44733238220214844,-0.0016683789675179422,-0.011181490803932435,8.474959242588227,plate_48_clear,0.48097991943359375,0.1065673828125,-86.88794020368216,0.2958635841081464,1273.2575332631745,rect,-0.32153571049917207,-0.3439696557765805,3.0545591481478294,11761.741672491353,6340.855279782692,sphere,1.6340583259468402,-0.9919750496924542,1.8374305892410219,6542.939310339604,5576.134585612528,0.051424846053123474,0.002006913535296917,-0.030061135068535805,-0.28138846158981323,0.6429614424705505,0.6593450903892517,-0.26960188150405884,0.06040199473500252,0.5785200595855713,1.9273682832717896,0.04209756478667259,0.0047531770542263985,0.28721940517425537,0.956927478313446,1248,1,,2.0939300060272217,0.2502848539262633,0.0,0.007335006259381771,0.5088141025641025,12,release,0.042144775390625,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e012,0,True,0.07308101654052734,0.4499988555908203,-0.013032965061533211,0.010269099229816734,8.824267665486417,pcr_96_blue,0.5098752975463867,0.08571529388427734,-89.33759700102298,0.20004135250053437,1057.600727215431,rect,-0.3040022353453038,-0.32329577135243276,2.820255785328331,8796.161737035214,4963.98894975073,sphere,1.7877162102102062,1.146111966948706,2.294222909287848,2140.5225311492636,7334.161815175278,0.05185768008232117,0.0007595770875923336,-0.03208395466208458,-0.270328164100647,0.64947909116745,0.6538773775100708,-0.2784670889377594,0.07115355134010315,0.5745897889137268,1.9365365505218506,0.030086036771535873,0.027584834024310112,0.28576159477233887,0.9574310779571533,1168,1,,2.082841396331787,0.30868016875184867,0.0,0.006851209327578545,0.5419520547945206,12,release,0.042205631732940674,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e013,1,True,0.02138042449951172,0.4474630355834961,0.010968802238653232,0.007896747819368272,5.650378286469589,plate_12_clear,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.25060511027114074,1057.600727215431,rect,0.625780295387297,0.4441891910186244,3.053467963040282,6512.507606348856,4536.95843147206,sphere,0.4569963295009125,-0.46050102578407004,2.463634690980334,2242.4288802304945,4651.442462600526,0.05254342779517174,0.0026564104482531548,-0.03326256945729256,-0.28242239356040955,0.6540221571922302,0.6426967978477478,-0.2818393111228943,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1167,1,,2.0679473876953125,0.32753542192739343,0.0,0.007361730560660362,0.5501285347043702,12,release,0.04214441776275635,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e014,2,True,0.1070413589477539,0.45000267028808594,-0.0036822160511738892,0.002333515583906381,10.163932761891516,plate_1536_black,0.49652099609375,0.10860252380371094,-85.19918019676528,0.29199321127266825,1057.600727215431,rect,-0.1751498053717528,0.27196835147280984,2.8435737208725356,8928.796799736177,6248.641947248382,disk,-1.5384017115313628,0.2186927604600799,2.49498032090568,9881.632922425077,3104.2904890768255,0.05003203824162483,0.001512704067863524,-0.03226206824183464,-0.29322901368141174,0.6390935778617859,0.6527971625328064,-0.28183692693710327,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1216,1,,2.1239991188049316,0.28216233229759546,0.0,0.0073728617280721664,0.5238486842105263,12,release,0.042611777782440186,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e015,3,True,-0.045047760009765625,0.45000171661376953,-0.00977521699562524,-0.01061331533971593,-9.000484602553428,plate_96_clear,0.48097991943359375,0.1065673828125,-86.88794020368216,0.1996583388265337,1057.600727215431,rect,-0.39098759917914966,0.47114590047739147,2.9351502715971423,6444.12687731533,5029.310580677124,sphere,-0.7616790487059816,-0.4447719761948985,1.6675537324840681,2077.9624310897752,4369.370555504509,0.04974476993083954,0.00166699115652591,-0.03188610076904297,-0.2818666994571686,0.6424369812011719,0.6597369909286499,-0.2693937420845032,0.06040199473500252,0.5785200595855713,1.9273682832717896,0.04209756478667259,0.0047531770542263985,0.28721940517425537,0.956927478313446,1252,1,,2.0658164024353027,0.24750142497493827,0.0,0.007312455680221319,0.5135782747603834,12,release,0.04230046272277832,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e016,0,True,-0.0884561538696289,0.45000457763671875,0.010803236013180702,0.008606650683280662,-3.3776371662214046,pcr_96_blue,0.5098752975463867,0.08571529388427734,-89.33759700102298,0.2680256265183081,499.3498408337804,rect,0.8028743808449678,-0.45668548513643137,2.93244244600277,12044.82056072282,3753.740898892515,sphere,-0.49833880000971464,0.6310613118360902,2.2852010543811154,6127.465019276864,7422.373546763286,0.05156189203262329,-0.0012269627768546343,-0.03203820437192917,-0.2730778753757477,0.6555038094520569,0.645714521408081,-0.2807062566280365,0.07115355134010315,0.5745897889137268,1.9365365505218506,0.030086036771535873,0.027584834024310112,0.28576159477233887,0.9574310779571533,1215,1,,2.1355185508728027,0.29929514740835544,0.0,0.006439500488340855,0.522633744855967,12,release,0.04216039180755615,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e017,1,True,0.014896392822265625,0.45000267028808594,0.009849634428659937,-0.0024420127191688555,3.2894645090437393,plate_96_white,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.19103135596987164,499.3498408337804,rect,-0.4420721529824843,0.5596242027284781,3.1266706835870397,12717.843130859825,5291.094994253353,sphere,-1.3652935927481178,1.008878415827961,2.7766254545456537,2534.3449882284112,2877.771281262147,0.05448699742555618,0.001049994956701994,-0.032271891832351685,-0.27580782771110535,0.65373694896698,0.6443644165992737,-0.28522366285324097,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1192,1,,2.115845203399658,0.2913163363670232,0.0,0.0072901565581560135,0.5369127516778524,12,release,0.04217785596847534,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e018,2,True,0.10315704345703125,0.4475250244140625,-0.0007790495041157929,0.00407898350173142,4.973221938729267,deep_well_24_10ml,0.49652099609375,0.10860252380371094,-85.19918019676528,0.24854022452450908,499.3498408337804,rect,0.5608819653507208,0.4621403086810453,3.0229704483023183,4289.528878286004,3883.2987471546558,disk,0.8842079081554894,0.3778960076471758,2.6675278029537757,8072.919061214771,6252.316065737277,0.049310438334941864,-0.0031631391029804945,-0.03126857429742813,-0.29630354046821594,0.6407111287117004,0.6496416330337524,-0.2822396755218506,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1267,1,,2.1131227016448975,0.26519384052055495,0.0,0.0074715279042720795,0.5090765588003157,12,release,0.0430445671081543,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e019,3,True,0.10893058776855469,0.4499988555908203,0.013725292133913403,0.005451173759071634,1.8760924802246848,plate_96_clear,0.48097991943359375,0.1065673828125,-86.88794020368216,0.19031159349459076,499.3498408337804,rect,0.19659088314533568,0.3664121602124032,2.7219047377408594,6174.95529245418,4516.533979329396,sphere,-1.317333981770954,1.5930388692586954,2.522653830817517,2657.990906494417,6450.044713154276,0.04912949725985527,0.0008101273560896516,-0.03148804232478142,-0.2837003171443939,0.6398334503173828,0.662024736404419,-0.26804935932159424,0.06040199473500252,0.5785200595855713,1.9273682832717896,0.04209756478667259,0.0047531770542263985,0.28721940517425537,0.956927478313446,1203,1,,2.129136085510254,0.2750486430076077,0.0,0.00730563048273325,0.5361596009975063,12,release,0.042593955993652344,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e020,0,True,-0.06767463684082031,0.4475860595703125,0.004919184432064081,-0.004196085256097029,2.823458234167674,plate_6_clear,0.5098752975463867,0.08571529388427734,-89.33759700102298,0.29071046458104416,509.32414412879194,rect,0.22845115599429766,-0.2570358335832108,2.7554058516606865,13399.96654197044,6678.565246307478,sphere,1.4206513175730446,-0.07737985450980145,1.6347607710943082,3406.387401953538,6899.111780662566,0.052310336381196976,0.0009147749515250325,-0.031056197360157967,-0.2738175094127655,0.6530458331108093,0.6513176560401917,-0.2726545035839081,0.07115355134010315,0.5745897889137268,1.9365365505218506,0.030086036771535873,0.027584834024310112,0.28576159477233887,0.9574310779571533,1215,1,,2.0679941177368164,0.3153803202403135,0.0,0.007381881587207317,0.528395061728395,12,release,0.042975425720214844,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e021,1,True,0.02707958221435547,0.45000267028808594,-0.009489073883923007,0.00026460428238500697,8.1178622914247,pcr_384_red,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.216041225752519,509.32414412879194,rect,0.13843050843752125,-0.07450762934882865,3.0278439356492455,12003.952364518955,3327.4992335530756,sphere,-0.26222693894197224,1.5493172268755202,2.3702045522490858,6928.1274201910055,6606.740183134139,0.054583583027124405,0.0031473287381231785,-0.03300337493419647,-0.28090646862983704,0.6544978618621826,0.6408580541610718,-0.28640016913414,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1264,1,,2.0996432304382324,0.30136238954781897,0.0,0.006797419860959053,0.5134493670886076,12,release,0.04216569662094116,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e022,2,True,-0.027547836303710938,0.44722557067871094,0.006221218716781173,-0.01089911632309588,-5.8695967157896405,plate_1536_black,0.49652099609375,0.10860252380371094,-85.19918019676528,0.17154898227210183,509.32414412879194,rect,0.8616428304972935,-0.4144372032244247,2.8083268514521733,7831.9278245619735,6503.352272536744,disk,1.6232559674482046,1.3589597539545826,2.222381568452205,8185.188580438681,4187.713962389171,0.04592538997530937,0.0020190987270325422,-0.032713744789361954,-0.29020237922668457,0.6404126882553101,0.6519550681114197,-0.2839168906211853,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1236,1,,2.1404123306274414,0.29464152262199533,0.0,0.007368647027760744,0.5679611650485437,12,release,0.042413949966430664,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e023,3,True,0.12932491302490234,0.4492979049682617,-0.012851702416474764,0.009308649205134405,-3.7402728925452493,plate_384_white,0.48097991943359375,0.1065673828125,-86.88794020368216,0.2849957797320991,509.32414412879194,rect,0.32401677283696984,0.5430009253216441,2.959140630055724,6634.903657555682,3327.190017103454,sphere,-0.693053817564349,0.6574692217863853,1.65475271716901,9006.2663649956,6104.498181295436,0.05003725364804268,0.0010903945658355951,-0.03278540447354317,-0.28357264399528503,0.6406666040420532,0.6618133783340454,-0.2667132318019867,0.06040199473500252,0.5785200595855713,1.9273682832717896,0.04209756478667259,0.0047531770542263985,0.28721940517425537,0.956927478313446,1188,1,,2.0791280269622803,0.2890041547531716,0.0,0.007418060675263405,0.5345117845117845,12,release,0.04218780994415283,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e024,0,True,-0.03862571716308594,0.4474525451660156,0.0034498732212641207,-0.012186345091321325,-1.228224652839316,plate_6_clear,0.5098752975463867,0.08571529388427734,-89.33759700102298,0.22301291825706693,1066.1652409916408,rect,0.3701577787181417,0.42756636534757786,2.7536783220061682,10308.053756918549,7139.145005107615,sphere,1.066950131104441,-0.17615076616815117,1.7056044757865545,3349.715121064661,4402.116360530747,0.049110934138298035,-0.00021987961372360587,-0.03296805918216705,-0.2712527811527252,0.6517665386199951,0.6499013304710388,-0.28151482343673706,0.07115355134010315,0.5745897889137268,1.9365365505218506,0.030086036771535873,0.027584834024310112,0.28576159477233887,0.9574310779571533,1283,1,,2.089383840560913,0.2629656980444228,0.0,0.007342466153204441,0.5448168355416991,12,release,0.04236340522766113,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e025,1,True,0.05992603302001953,0.4500255584716797,-0.002154598235528038,0.00903119377468528,-6.160903931724221,deep_well_96_1ml,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.18337795536757298,1066.1652409916408,rect,0.727129080842141,0.3728615109926361,2.91974021312344,12833.78275593698,3946.8531340258583,sphere,1.1904375761997148,0.8308785864747741,1.9630365175412434,4618.6346273798845,5358.75842443933,0.05120622739195824,0.0033351059537380934,-0.03188049793243408,-0.27367445826530457,0.6558128595352173,0.6409732699394226,-0.29011213779449463,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1280,1,,2.058243751525879,0.2996522791163788,0.0,0.007475711405277252,0.50703125,12,release,0.042204856872558594,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e026,2,True,-0.04215717315673828,0.4474315643310547,-0.011082709307576717,0.008191068279699214,-5.847838839122261,plate_24_clear,0.49652099609375,0.10860252380371094,-85.19918019676528,0.1932120342141251,1066.1652409916408,rect,-0.035114381645494075,-0.02296060162740854,2.826293513269456,13413.1092426979,6066.633507853721,disk,-0.8579609873672113,0.9385192024350484,2.4362735227821117,9573.371374117474,5140.313895537292,0.047606825828552246,-0.0010689488844946027,-0.03080037795007229,-0.2887963652610779,0.6422454714775085,0.6535130739212036,-0.27755722403526306,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1267,1,,2.0892372131347656,0.31414553924381544,0.0,0.007321423850953579,0.5516969218626677,12,release,0.04263448715209961,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e027,3,True,0.012908935546875,0.4499969482421875,0.01094044385574808,0.004397660719836374,-11.164266924427068,reservoir_12ch,0.48097991943359375,0.1065673828125,-86.88794020368216,0.28991823189337274,1066.1652409916408,rect,-0.11535799942451652,0.2463211032567051,2.827416806217616,6816.574003260401,5062.1686025648105,sphere,0.12896598353850175,-0.750571606649128,2.2768064240785013,8563.397280884732,7457.45949609354,0.05320790037512779,0.001322138705290854,-0.031974416226148605,-0.2834726572036743,0.6441594362258911,0.657118022441864,-0.26999586820602417,0.06040199473500252,0.5785200595855713,1.9273682832717896,0.04209756478667259,0.0047531770542263985,0.28721940517425537,0.956927478313446,1215,1,,2.120183229446411,0.2827313997366791,0.0,0.00739914970472455,0.5308641975308642,12,release,0.04263472557067871,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e028,0,True,0.13750648498535156,0.44981861114501953,-0.007491063633240254,-0.006744362900631684,-5.695397274615857,plate_96_black,0.5098752975463867,0.08571529388427734,-89.33759700102298,0.25501291556043454,1026.338843828048,rect,0.7526206772533474,-0.02900625357720127,3.092452584774487,11360.392153359133,4620.0064928836955,sphere,-0.2164234497862907,0.9329828250833663,2.7663104947496278,4069.258827628851,5016.569656641315,0.04927145317196846,-0.000714538327883929,-0.03312409296631813,-0.2731476426124573,0.6551094055175781,0.6454834938049316,-0.2820870280265808,0.07115355134010315,0.5745897889137268,1.9365365505218506,0.030086036771535873,0.027584834024310112,0.28576159477233887,0.9574310779571533,1243,1,,2.1430342197418213,0.29461343861030986,0.0,0.0072907377034425735,0.5172968624296058,12,release,0.04240041971206665,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e029,1,True,0.12559127807617188,0.44748401641845703,-0.010670339336353158,-0.01092263880235645,10.374093444058246,plate_96_white,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.2924380731372705,1026.338843828048,rect,-0.5355582068015055,0.2651494717302282,2.863299667709068,6047.781078516034,7007.209923135399,sphere,-0.7172232971677083,0.49115271871297383,1.6678431980528023,7553.7161132662595,4539.6811601627105,0.05351172387599945,0.0012660307111218572,-0.032201144844293594,-0.2784764766693115,0.6545631885528564,0.6412453055381775,-0.2877538800239563,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1157,1,,2.1418421268463135,0.27841079575008,0.0,0.007291251793503761,0.5566119273984442,12,release,0.04209107160568237,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e030,2,True,0.0670928955078125,0.4475078582763672,0.0016299557990558501,0.0020808183584054125,5.945198355710801,plate_1536_black,0.49652099609375,0.10860252380371094,-85.19918019676528,0.20650964066949937,1026.338843828048,rect,0.08451647434587628,-0.31336730631631504,2.675898010306634,11870.319933179879,5931.051488546715,disk,0.5124191499750395,-0.10662840919554406,2.587719775191953,9681.092267199872,5565.596864390578,0.047110505402088165,0.0012361888075247407,-0.032708875834941864,-0.28806185722351074,0.6421632766723633,0.6513484120368958,-0.2835347056388855,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1209,1,,2.0990076065063477,0.3120983476090878,0.0,0.007381717674434185,0.5268817204301075,12,release,0.04254770278930664,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e031,3,True,-0.05526542663574219,0.4499988555908203,0.005319606815142731,-0.004930483831737334,11.414835046789904,plate_384_white,0.48097991943359375,0.1065673828125,-86.88794020368216,0.2951005003378472,1026.338843828048,rect,0.7072044892350907,-0.31768683239379386,3.0169828170267943,10739.025729992598,5766.915398488491,sphere,1.4197203146088362,-0.7239605742975044,2.137869986049564,4803.710872666639,4506.3774167222455,0.05052579939365387,0.00044601401896215975,-0.0313790924847126,-0.28156858682632446,0.6455941200256348,0.6534186601638794,-0.27743715047836304,0.06040199473500252,0.5785200595855713,1.9273682832717896,0.04209756478667259,0.0047531770542263985,0.28721940517425537,0.956927478313446,1224,1,,2.0518476963043213,0.3267694383998896,0.0,0.00742142740637064,0.5261437908496732,12,release,0.042462825775146484,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e032,0,True,0.02449512481689453,0.44744205474853516,-0.004044588782368361,0.003769529187581057,2.3586694142389604,plate_6_clear,0.5098752975463867,0.08571529388427734,-89.33759700102298,0.2904493116545849,930.0340926763519,rect,0.08873072172742857,-0.47717780793132536,3.093684021749389,4028.7907641694605,4796.143336040808,sphere,-0.4209474677886882,1.0869161392613573,2.4599045240266464,8063.386656872011,6411.587678889895,0.05162210017442703,-0.00030230911215767264,-0.031877368688583374,-0.27155131101608276,0.6549257636070251,0.6468988656997681,-0.2808094322681427,0.07115355134010315,0.5745897889137268,1.9365365505218506,0.030086036771535873,0.027584834024310112,0.28576159477233887,0.9574310779571533,1252,1,,2.073176145553589,0.2599564105618204,0.0,0.007389779202640057,0.505591054313099,12,release,0.042149484157562256,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e033,3,True,0.14942169189453125,0.45000267028808594,0.008275836770829137,0.0019413622896646253,-11.25606379869373,plate_96_clear,0.48097991943359375,0.1065673828125,-86.88794020368216,0.17209878041109244,930.0340926763519,rect,-0.31541350678697255,0.327344868711151,2.7746170334426092,7094.595825029426,6206.58239708772,sphere,-1.0978752689929485,1.2628119836049605,2.5501722008986705,2160.3909772023057,3189.3340681791587,0.051566172391176224,-0.00035685396869666874,-0.03363130986690521,-0.2828368544578552,0.6408519148826599,0.6619892716407776,-0.2666126787662506,0.06040199473500252,0.5785200595855713,1.9273682832717896,0.04209756478667259,0.0047531770542263985,0.28721940517425537,0.956927478313446,1227,1,,2.10507869720459,0.27519233362719203,0.0,0.007304334081709385,0.5232273838630807,12,release,0.04226207733154297,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e034,1,True,0.0809946060180664,0.45000171661376953,0.004008849820366153,0.008341521739290786,-4.1724150070329244,plate_12_clear,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.228409755527189,930.0340926763519,rect,-0.5431175721883907,0.5140563535401097,3.191498838287222,10336.331896650889,6699.067533864644,sphere,1.050850753106729,0.006864785633500237,1.719290690328437,1846.3099551250996,5930.803494758246,0.05385357886552811,0.0009977426379919052,-0.031405262649059296,-0.27114343643188477,0.6537808179855347,0.6446560621261597,-0.28891250491142273,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1262,1,,2.031855821609497,0.31277080872682683,0.0,0.007359934970736504,0.5023771790808241,12,release,0.04228532314300537,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e035,2,True,0.10033512115478516,0.4500007629394531,0.01405336732617477,-0.00021405174746582913,6.006028564605373,plate_24_clear,0.49652099609375,0.10860252380371094,-85.19918019676528,0.2770173160298066,930.0340926763519,rect,-0.21681946546186326,-0.018335128201856454,3.090739007141058,12502.581747720871,6974.798307837895,disk,-0.2477813709665293,0.7761055326392998,2.2566924321139257,3583.1798356783697,4420.886301388977,0.046764202415943146,-0.0005921982228755951,-0.0321672260761261,-0.29099786281585693,0.6434356570243835,0.648462176322937,-0.28426674008369446,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1203,1,,2.0331778526306152,0.2897597162449255,0.0,0.007339325733482838,0.5344970906068163,12,release,0.04233050346374512,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e036,0,True,-0.050807952880859375,0.4499998092651367,-0.002768592328720259,-0.0048198264618506525,1.4071832813002345,plate_96_black,0.5098752975463867,0.08571529388427734,-89.33759700102298,0.2779365574573408,1219.0874068319254,rect,-0.33608394382409607,0.46007372322502726,3.138819401788253,8672.579341053639,4361.093092490981,sphere,-0.04659457202721784,-0.2044410716397812,2.234747477227556,3580.5960189188536,6422.508327512827,0.05350402370095253,0.0005316528840921819,-0.033629290759563446,-0.2661431133747101,0.657448410987854,0.6471339464187622,-0.2795480787754059,0.07115355134010315,0.5745897889137268,1.9365365505218506,0.030086036771535873,0.027584834024310112,0.28576159477233887,0.9574310779571533,1265,1,,2.1326358318328857,0.3124034780583061,0.0,0.007303471677005291,0.5043478260869565,12,release,0.042067527770996094,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e037,3,True,-0.008141517639160156,0.44721317291259766,0.008094237449992821,-0.002337213065537883,3.3654008617535,plate_96_clear,0.48097991943359375,0.1065673828125,-86.88794020368216,0.23396876460616792,1219.0874068319254,rect,-0.07264636748740061,0.3836478635688817,3.1044977387051347,5153.8606412733225,4458.954974131039,sphere,-1.0373229859258788,-0.8384256692243464,2.3602784212686316,7998.612888303927,4599.44483401664,0.05040239915251732,0.0012286227429285645,-0.030642550438642502,-0.28806933760643005,0.6379303336143494,0.6594583988189697,-0.27418169379234314,0.06040199473500252,0.5785200595855713,1.9273682832717896,0.04209756478667259,0.0047531770542263985,0.28721940517425537,0.956927478313446,1310,1,,2.049190044403076,0.33986629051691625,0.0,0.007305287756025791,0.5404580152671755,12,release,0.04210066795349121,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e038,1,True,0.01519775390625,0.4499969482421875,0.00347370224869653,0.011918223377357453,-11.603269423618485,plate_96_white,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.2987944820561875,1219.0874068319254,rect,0.46643836167221775,0.505490807520514,2.8573195294931892,12434.194192458815,6471.820678405973,sphere,-0.8705474347150163,0.963274500887376,1.7401562449461934,6359.580224738506,6209.409177356968,0.0539933405816555,0.001059031579643488,-0.031227752566337585,-0.27359774708747864,0.6558132171630859,0.6420989632606506,-0.2876841723918915,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1249,1,,2.110970973968506,0.26575462013971946,0.0,0.007257501594722271,0.5100080064051241,12,release,0.04214119911193848,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p001_e039,2,True,0.08989620208740234,0.4475879669189453,-0.00536951353895516,-0.004008023738319328,-2.593186932389301,plate_1536_black,0.49652099609375,0.10860252380371094,-85.19918019676528,0.21297817410138803,1219.0874068319254,rect,0.7741660326045549,-0.3669238229449231,2.7920895122846416,8802.76928861708,6459.610601640443,disk,-1.0059498553455317,-0.09968409524210853,1.9455591130022283,2290.364701373542,4356.184362140162,0.0492008775472641,0.00025940765044651926,-0.030066315084695816,-0.29230543971061707,0.6468781232833862,0.6455579996109009,-0.2817108929157257,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1232,1,,2.0897867679595947,0.3163083672085449,0.0,0.007366596255451441,0.5211038961038961,12,release,0.04236501455307007,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e000,1,True,0.13289833068847656,0.4500007629394531,-0.00270532358693981,-0.010082312077712183,0.8577121040827365,plate_12_clear,0.49652099609375,0.10860252380371094,-85.19918019676528,0.15096005178906094,1147.3060942198235,rect,0.7781540268099717,-0.43191020753524617,2.617084652535925,9244.52560296798,5337.866746703284,disk,-1.3321427219372615,1.0871427084498098,2.1430752885017936,2605.1666955983733,6844.557324073584,0.047876592725515366,-0.0012646998511627316,-0.033509548753499985,-0.29371803998947144,0.640224277973175,0.6503114104270935,-0.28449541330337524,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1196,1,,2.092733144760132,0.26702679374279464,0.0,0.007364561781287193,0.5250836120401338,12,release,0.04221546649932861,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e001,0,True,0.11435413360595703,0.4499979019165039,-0.014579365152831118,-0.011694462881447048,0.002291765333893636,plate_96_black,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.15762390198698684,1147.3060942198235,rect,0.7277507870850263,0.5419221938788885,3.074608495635918,5271.674772855219,3216.754173088947,sphere,-1.3189072621519737,1.1262001254159182,2.7131106048811064,8978.156921553556,4106.338044999294,0.052603863179683685,0.00377072230912745,-0.03169066458940506,-0.2780756950378418,0.6546304821968079,0.6430907845497131,-0.2838435173034668,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1220,1,,2.0337982177734375,0.27642650834499033,0.0,0.007289971224963665,0.5262295081967213,12,release,0.042372703552246094,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e002,3,True,-0.056511878967285156,0.4488039016723633,-0.011569862183244,-0.0032643947700417694,10.317496270763144,plate_384_white,0.5256032943725586,0.08841419219970703,-86.35962671910123,0.20174530217770875,1147.3060942198235,rect,0.7402233456444883,-0.2441661279486957,3.055012500516506,12729.561991227996,5141.18193802327,sphere,1.7350425970318186,-1.045325629609158,2.5265779836312405,9008.708041954409,5539.692625307267,0.04754891246557236,-0.0004279366694390774,-0.027997858822345734,-0.2831780016422272,0.6449016332626343,0.6473301649093628,-0.29133445024490356,0.051940519362688065,0.5903128385543823,1.9534716606140137,0.039640896022319794,0.0017979292897507548,0.26010236144065857,0.9647653102874756,1261,1,,2.0508127212524414,0.25679822412798214,0.0,0.0074187940917909145,0.5114988104678826,12,release,0.04215693473815918,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e003,2,True,-0.00812530517578125,0.4472980499267578,0.0001556711187703134,-0.008932967850153078,4.772384032148125,plate_24_clear,0.48097991943359375,0.1065673828125,-86.88794020368216,0.231089578900173,1147.3060942198235,rect,-0.09190359788923053,0.3877097561574113,2.938850935820934,5032.355243837303,5155.48228209703,sphere,0.2318986427677956,-0.6421378310066389,1.7560140467083263,9977.106044244774,6050.314465882062,0.05091431364417076,0.001995001919567585,-0.0330219641327858,-0.28109660744667053,0.6382850408554077,0.662440299987793,-0.273404061794281,0.06040199473500252,0.5785200595855713,1.9273682832717896,0.04209756478667259,0.0047531770542263985,0.28721940517425537,0.956927478313446,1325,1,,2.102019786834717,0.3234275231175499,0.0,0.007325026206672192,0.5320754716981132,12,release,0.042531728744506836,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e004,3,True,-0.049271583557128906,0.4500131607055664,0.013169739218455824,-0.0010548754869667567,6.101139581413463,plate_48_clear,0.5256032943725586,0.08841419219970703,-86.35962671910123,0.2653638379139784,669.5850538874914,rect,0.33721219261940283,0.38946957373372415,2.7523013642383534,13549.582314015031,3848.9555536598027,sphere,1.712655678011589,0.030539638131314994,2.283063917966637,3644.646477656695,7378.019545047513,0.04872238263487816,-0.001841997029259801,-0.026648543775081635,-0.29143357276916504,0.6426610946655273,0.6484979391098022,-0.2854883670806885,0.051940519362688065,0.5903128385543823,1.9534716606140137,0.039640896022319794,0.0017979292897507548,0.26010236144065857,0.9647653102874756,1220,1,,2.0850751399993896,0.31985514388612796,0.0,0.007288831751793623,0.5245901639344263,12,release,0.04232293367385864,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e005,1,True,-0.07596778869628906,0.45000267028808594,0.008452762009501758,0.008462558681261478,10.969333506359078,pcr_384_red,0.49652099609375,0.10860252380371094,-85.19918019676528,0.18225405906348602,669.5850538874914,rect,0.8663387724351398,0.2057790783420571,2.6403503636169945,15791.382262591322,3835.1994642847344,disk,-0.8989944920480688,-1.1006218024336514,2.20797561491277,6164.855563973242,3528.122720192925,0.04907482489943504,-0.002190676983445883,-0.03059626929461956,-0.2927466034889221,0.6453605890274048,0.6487528681755066,-0.2773604393005371,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1241,1,,2.0739176273345947,0.2888982273230234,0.0,0.006762601435184479,0.564867042707494,12,release,0.042307138442993164,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e006,2,True,-0.14861488342285156,0.4500408172607422,-0.005654121057576715,-0.003232857101471807,3.1566933480665114,plate_1536_black,0.48097991943359375,0.1065673828125,-86.88794020368216,0.289087012472208,669.5850538874914,rect,-0.23553934261031373,-0.4180440657463963,3.117442178045673,8027.969980849415,5956.594543443729,sphere,1.3317149892606226,0.9141744812792265,1.7573282721804666,7222.218721845235,3513.137122630266,0.05054224282503128,0.0013351142406463623,-0.03308593109250069,-0.28746920824050903,0.6442792415618896,0.6575334668159485,-0.26441529393196106,0.06040199473500252,0.5785200595855713,1.9273682832717896,0.04209756478667259,0.0047531770542263985,0.28721940517425537,0.956927478313446,1165,1,,2.1321260929107666,0.3172253704236872,0.0,0.007339462637901306,0.5399141630901287,12,release,0.04248523712158203,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e007,0,True,-0.13263511657714844,0.45000171661376953,-0.010365869846693191,-0.0056393246668744665,10.472066219903297,plate_96_black,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.22381299788732759,669.5850538874914,rect,0.39959055706107416,0.29567346812137296,2.7749605805521553,8964.946857223717,5894.170867044266,sphere,0.6222487615359369,1.153563837594256,2.576391540478769,8547.78462323402,5021.648724101808,0.05063370242714882,0.0014428220456466079,-0.03182484209537506,-0.27732717990875244,0.6560255885124207,0.6416630148887634,-0.28458502888679504,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1270,1,,2.0710842609405518,0.2535852108204315,0.0,0.0073126088827848434,0.5007874015748032,12,release,0.042131900787353516,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e008,3,True,0.05222797393798828,0.4499988555908203,-0.013635531377593577,0.01000323166783911,-2.4803468272636735,plate_384_white,0.5256032943725586,0.08841419219970703,-86.35962671910123,0.28385200452599474,669.5850538874914,rect,-0.29149690515055793,0.1957292146376456,3.007836521003517,8343.816324794914,6373.571836816098,sphere,-1.590037308446663,-0.5554897375981703,1.8360296245622991,9925.396976579961,6439.095331539911,0.04906104877591133,-0.002754081739112735,-0.028516119346022606,-0.2822861075401306,0.6449953317642212,0.6474571228027344,-0.29171022772789,0.051940519362688065,0.5903128385543823,1.9534716606140137,0.039640896022319794,0.0017979292897507548,0.26010236144065857,0.9647653102874756,1147,1,,2.084256410598755,0.27172861400781795,0.0,0.007375259883701801,0.5553618134263295,12,release,0.04217064380645752,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e009,1,True,-0.04380607604980469,0.45000267028808594,-0.004794354559427629,-0.004176825187942099,8.175502605183198,pcr_384_red,0.49652099609375,0.10860252380371094,-85.19918019676528,0.17048803144684158,1418.1457821093886,rect,-0.24650289339076692,-0.21379433564061057,2.636285740666319,4632.120930122229,4602.128890437882,disk,0.7370271351438764,-0.4162109978766847,2.0035828731817156,5182.516814828537,5012.887528060493,0.049300361424684525,0.0001714630489004776,-0.030218685045838356,-0.29563623666763306,0.6438114643096924,0.6476295590400696,-0.28050315380096436,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1183,1,,2.012765407562256,0.2875868325745953,0.0,0.006840274203568697,0.5426880811496196,12,release,0.04215073585510254,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e010,2,True,-0.1370096206665039,0.45000267028808594,-0.013653217784586637,0.005574687059241057,-7.276973038006673,deep_well_24_10ml,0.48097991943359375,0.1065673828125,-86.88794020368216,0.2958635841081464,1418.1457821093886,rect,-0.32153571049917207,-0.3439696557765805,3.0545591481478294,11761.741672491353,6340.855279782692,sphere,1.6340583259468402,-0.9919750496924542,1.8374305892410219,6542.939310339604,5576.134585612528,0.049664318561553955,0.0017571807838976383,-0.032855961471796036,-0.28662440180778503,0.6389119625091553,0.6597881317138672,-0.27261245250701904,0.06040199473500252,0.5785200595855713,1.9273682832717896,0.04209756478667259,0.0047531770542263985,0.28721940517425537,0.956927478313446,1226,1,,2.0539255142211914,0.3062186335826294,0.0,0.007528495974838734,0.5163132137030995,12,release,0.042786598205566406,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e011,0,True,0.014201164245605469,0.44696807861328125,0.001149820886426653,-0.0027100185334237477,-0.45676059370339317,plate_6_clear,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.19244993229589513,1418.1457821093886,rect,0.6673672915858923,0.09380374895043175,2.9425357153668474,4935.656470080758,3946.244583823105,sphere,-0.6876657516870882,1.2675389940506234,2.202374227163428,6070.283433361514,6802.0894306154605,0.05161341652274132,0.00033824911224655807,-0.03258354589343071,-0.27254974842071533,0.6558566093444824,0.6430668830871582,-0.28641530871391296,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1258,1,,2.0567142963409424,0.27827573698765773,0.0,0.007375916466116905,0.5039745627980922,12,release,0.04263925552368164,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e012,3,True,-0.12151241302490234,0.4471416473388672,-0.015254121800732068,-0.005642126211637554,-3.8783948837016453,plate_96_clear,0.5256032943725586,0.08841419219970703,-86.35962671910123,0.2612964241811485,1418.1457821093886,rect,0.21085062924850229,-0.2787205927505734,3.195346919166882,7466.773527772744,6981.005217575666,sphere,1.7741905846745696,1.2465707445710852,2.619692424067544,8053.918321886401,6421.129103721169,0.04867757856845856,-0.0007612803019583225,-0.0299016572535038,-0.2862498462200165,0.6426317691802979,0.6480346322059631,-0.2917816936969757,0.051940519362688065,0.5903128385543823,1.9534716606140137,0.039640896022319794,0.0017979292897507548,0.26010236144065857,0.9647653102874756,1223,1,,2.0419492721557617,0.2673973154503156,0.0,0.007291111629456282,0.5200327064595257,12,release,0.042200565338134766,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e013,1,True,0.10759258270263672,0.44733619689941406,-0.011074696992432333,-0.009631377442522019,4.186163215543473,deep_well_96_1ml,0.49652099609375,0.10860252380371094,-85.19918019676528,0.29199321127266825,355.2356790902959,rect,-0.1751498053717528,0.27196835147280984,2.8435737208725356,8928.796799736177,6248.641947248382,disk,-1.5384017115313628,0.2186927604600799,2.49498032090568,9881.632922425077,3104.2904890768255,0.04768342152237892,0.0008752773283049464,-0.03106500208377838,-0.2931177616119385,0.6391808390617371,0.652218759059906,-0.2830909788608551,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1262,1,,2.053670644760132,0.26553575326304657,0.0,0.007434905506670475,0.5039619651347068,12,release,0.04233023524284363,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e014,2,True,-0.04496574401855469,0.4500007629394531,0.008020171327294401,0.002916014154554012,-8.82937710377442,plate_1536_black,0.48097991943359375,0.1065673828125,-86.88794020368216,0.1996583388265337,355.2356790902959,rect,-0.39098759917914966,0.47114590047739147,2.9351502715971423,6444.12687731533,5029.310580677124,sphere,-0.7616790487059816,-0.4447719761948985,1.6675537324840681,2077.9624310897752,4369.370555504509,0.050997693091630936,-0.0007828621892258525,-0.03318751975893974,-0.2831882834434509,0.6400149464607239,0.6577500104904175,-0.2784782946109772,0.06040199473500252,0.5785200595855713,1.9273682832717896,0.04209756478667259,0.0047531770542263985,0.28721940517425537,0.956927478313446,1294,1,,2.066758155822754,0.3358726972183753,0.0,0.0073623452335596085,0.5417310664605873,12,release,0.04241228103637695,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e015,0,True,0.022347450256347656,0.45000267028808594,0.007973371945822845,0.005023477256776866,-2.58142049563196,plate_6_clear,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.25060511027114074,355.2356790902959,rect,0.625780295387297,0.4441891910186244,3.053467963040282,6512.507606348856,4536.95843147206,sphere,0.4569963295009125,-0.46050102578407004,2.463634690980334,2242.4288802304945,4651.442462600526,0.053675681352615356,-0.0005324502126313746,-0.03225019946694374,-0.2766704559326172,0.6553745865821838,0.6392544507980347,-0.29204678535461426,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1196,1,,2.103985071182251,0.3015292851071327,0.0,0.007375692017376423,0.5359531772575251,12,release,0.04237699508666992,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e016,3,True,0.006900787353515625,0.4499998092651367,-0.01448018831595365,0.0082662004209312,-11.496808826581372,plate_48_clear,0.5256032943725586,0.08841419219970703,-86.35962671910123,0.18818395548642916,355.2356790902959,rect,0.22765663946328052,0.04947795779997699,2.6142815935888515,13698.415383216145,4123.339796290098,sphere,1.7423200700221808,-0.4622537628919765,2.675803383840371,2537.7473582062294,4362.791444946945,0.047783080488443375,-0.00010561077215243131,-0.02638319320976734,-0.289324551820755,0.6479715704917908,0.6442012786865234,-0.2853574752807617,0.051940519362688065,0.5903128385543823,1.9534716606140137,0.039640896022319794,0.0017979292897507548,0.26010236144065857,0.9647653102874756,1283,1,,2.1300735473632812,0.3232968517329775,0.0,0.007325582206249237,0.5494933749025721,12,release,0.042623043060302734,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e017,1,True,0.10317134857177734,0.4474296569824219,0.012808224623024486,0.007711336217353034,-11.85238281262491,plate_12_clear,0.49652099609375,0.10860252380371094,-85.19918019676528,0.24854022452450908,355.2356790902959,rect,0.5608819653507208,0.4621403086810453,3.0229704483023183,4289.528878286004,3883.2987471546558,disk,0.8842079081554894,0.3778960076471758,2.6675278029537757,8072.919061214771,6252.316065737277,0.050067171454429626,-0.0014980450505390763,-0.031219283118844032,-0.2959805130958557,0.6352542042732239,0.6547350287437439,-0.2831425964832306,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1230,1,,2.0533106327056885,0.3259764449674197,0.0,0.007355549838393927,0.5235772357723577,12,release,0.04228818416595459,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e018,2,True,0.10855484008789062,0.4500007629394531,0.003921395929853798,-0.0020820836056406737,-6.75340341143135,plate_1536_black,0.48097991943359375,0.1065673828125,-86.88794020368216,0.19031159349459076,355.2356790902959,rect,0.19659088314533568,0.3664121602124032,2.7219047377408594,6174.95529245418,4516.533979329396,sphere,-1.317333981770954,1.5930388692586954,2.522653830817517,2657.990906494417,6450.044713154276,0.051422376185655594,0.0019261962734162807,-0.030327366665005684,-0.2870377004146576,0.6391083598136902,0.6589097380638123,-0.2738390564918518,0.06040199473500252,0.5785200595855713,1.9273682832717896,0.04209756478667259,0.0047531770542263985,0.28721940517425537,0.956927478313446,1257,1,,2.0819809436798096,0.3259874245047813,0.0,0.007383271586149931,0.513126491646778,12,release,0.042340755462646484,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e019,0,True,0.014690399169921875,0.45000457763671875,-0.0034699484156016486,-0.007107965325289193,-2.3706099984226796,plate_96_black,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.19103135596987164,1101.438818103476,rect,-0.4420721529824843,0.5596242027284781,3.1266706835870397,12717.843130859825,5291.094994253353,sphere,-1.3652935927481178,1.008878415827961,2.7766254545456537,2534.3449882284112,2877.771281262147,0.05078514665365219,0.00031593794119544327,-0.03245135769248009,-0.2712457478046417,0.6595501899719238,0.6408161520957947,-0.28420770168304443,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1202,1,,2.105022430419922,0.3102125168576041,0.0,0.007256179116666317,0.5316139767054908,12,release,0.04235410690307617,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e020,3,True,-0.04345512390136719,0.45000171661376953,0.005585857070857147,-0.009644400289175134,-7.149098736879694,plate_384_white,0.5256032943725586,0.08841419219970703,-86.35962671910123,0.2592014448979524,1101.438818103476,rect,-0.5160906779864118,-0.01900737949167891,2.8786919365315202,9606.746692008372,6466.358710480283,sphere,0.11376345877782712,-0.23689848330818497,2.152256668722605,9743.152509998417,4707.262522149042,0.04819651320576668,-0.0027439843397587538,-0.02645275928080082,-0.28665292263031006,0.6429921388626099,0.6477781534194946,-0.2911608815193176,0.051940519362688065,0.5903128385543823,1.9534716606140137,0.039640896022319794,0.0017979292897507548,0.26010236144065857,0.9647653102874756,1264,1,,2.1608781814575195,0.2540808147226975,0.0,0.0074132950976490974,0.5561708860759493,12,release,0.04259335994720459,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e021,1,True,-0.027467727661132812,0.4500007629394531,0.009281556822782935,0.011455213117413003,-5.828319267160026,plate_96_white,0.49652099609375,0.10860252380371094,-85.19918019676528,0.17154898227210183,1101.438818103476,rect,0.8616428304972935,-0.4144372032244247,2.8083268514521733,7831.9278245619735,6503.352272536744,disk,1.6232559674482046,1.3589597539545826,2.222381568452205,8185.188580438681,4187.713962389171,0.04883500561118126,0.0015585602959617972,-0.028996063396334648,-0.29336994886398315,0.6406893134117126,0.6504139304161072,-0.2835719585418701,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1329,1,,2.12117338180542,0.2603833959927099,0.0,0.007254992611706257,0.5259593679458239,12,release,0.04227256774902344,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e022,2,True,0.12932205200195312,0.45000457763671875,-0.01416031462263822,0.001312455618142447,3.5363905438808843,plate_24_clear,0.48097991943359375,0.1065673828125,-86.88794020368216,0.2849957797320991,823.8670350018763,rect,0.32401677283696984,0.5430009253216441,2.959140630055724,6634.903657555682,3327.190017103454,sphere,-0.693053817564349,0.6574692217863853,1.65475271716901,9006.2663649956,6104.498181295436,0.04974560812115669,0.0012859568232670426,-0.03136667609214783,-0.2798420190811157,0.6398596167564392,0.6618453860282898,-0.2724496126174927,0.06040199473500252,0.5785200595855713,1.9273682832717896,0.04209756478667259,0.0047531770542263985,0.28721940517425537,0.956927478313446,1163,1,,2.12453556060791,0.30122674372416114,0.0,0.007289165630936623,0.5494411006018917,12,release,0.04229849576950073,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e023,0,True,0.026704788208007812,0.4475984573364258,-0.007512516525956557,0.0046766703390051624,5.58524455491937,plate_96_black,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.216041225752519,823.8670350018763,rect,0.13843050843752125,-0.07450762934882865,3.0278439356492455,12003.952364518955,3327.4992335530756,sphere,-0.26222693894197224,1.5493172268755202,2.3702045522490858,6928.1274201910055,6606.740183134139,0.05294245108962059,0.0036462582647800446,-0.03219575807452202,-0.27422481775283813,0.6549478769302368,0.6439375281333923,-0.28493592143058777,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1192,1,,2.07806134223938,0.29097994952864015,0.0,0.00725865364074707,0.5436241610738255,12,release,0.04231148958206177,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e024,1,True,-0.04192924499511719,0.45000457763671875,-0.0019674291907876952,-0.011644524730055148,5.913238025171893,plate_96_white,0.49652099609375,0.10860252380371094,-85.19918019676528,0.1932120342141251,823.8670350018763,rect,-0.035114381645494075,-0.02296060162740854,2.826293513269456,13413.1092426979,6066.633507853721,disk,-0.8579609873672113,0.9385192024350484,2.4362735227821117,9573.371374117474,5140.313895537292,0.0463099405169487,0.001788795692846179,-0.03352766111493111,-0.2957158386707306,0.641570508480072,0.6488956809043884,-0.2826196253299713,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1219,1,,2.0751636028289795,0.2555384978192827,0.0,0.007258880417793989,0.5266611977030353,12,release,0.042905330657958984,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e025,2,True,0.012764930725097656,0.45000267028808594,-0.015136262211176522,0.010238866251196266,-1.8212535062453128,plate_1536_black,0.48097991943359375,0.1065673828125,-86.88794020368216,0.28991823189337274,823.8670350018763,rect,-0.11535799942451652,0.2463211032567051,2.827416806217616,6816.574003260401,5062.1686025648105,sphere,0.12896598353850175,-0.750571606649128,2.2768064240785013,8563.397280884732,7457.45949609354,0.05109304562211037,-0.0004930059076286852,-0.03128262981772423,-0.28274062275886536,0.6441774368286133,0.6578326225280762,-0.2689785063266754,0.06040199473500252,0.5785200595855713,1.9273682832717896,0.04209756478667259,0.0047531770542263985,0.28721940517425537,0.956927478313446,1208,1,,2.0911076068878174,0.268209459788685,0.0,0.007375713437795639,0.527317880794702,12,release,0.042108893394470215,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e026,3,True,-0.13027572631835938,0.4477968215942383,-0.002691480807494082,0.000680342174523495,-2.094036141078874,reservoir_12ch,0.5256032943725586,0.08841419219970703,-86.35962671910123,0.15658258559901617,1555.9464051278892,rect,-0.4595682636596556,0.18876862388638516,2.869742376229739,10220.591615816997,5919.57528982229,sphere,-1.5782296241311011,0.41527951664291063,2.0440397719678423,8925.501272751622,5907.676271911174,0.049884483218193054,-0.001406527473591268,-0.026014771312475204,-0.2849707305431366,0.6451103687286377,0.6492220759391785,-0.2848421037197113,0.051940519362688065,0.5903128385543823,1.9534716606140137,0.039640896022319794,0.0017979292897507548,0.26010236144065857,0.9647653102874756,1282,1,,2.070070505142212,0.29989967491287084,0.0,0.007448998279869556,0.5397815912636506,12,release,0.04295539855957031,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e027,0,True,0.05943775177001953,0.45000743865966797,-0.00793506233349908,-0.009567806380131428,0.483827230147881,deep_well_96_2ml,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.18337795536757298,1555.9464051278892,rect,0.727129080842141,0.3728615109926361,2.91974021312344,12833.78275593698,3946.8531340258583,sphere,1.1904375761997148,0.8308785864747741,1.9630365175412434,4618.6346273798845,5358.75842443933,0.05370024964213371,0.0030230823904275894,-0.03242668882012367,-0.2774505615234375,0.6580832600593567,0.637784481048584,-0.28840693831443787,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1249,1,,2.0554420948028564,0.2926558240478354,0.0,0.007503598928451538,0.5204163330664532,12,release,0.04297518730163574,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e028,1,True,0.06744861602783203,0.4480762481689453,-0.005668527349570586,0.0077485137893724045,-3.2547808375462637,plate_96_white,0.49652099609375,0.10860252380371094,-85.19918019676528,0.20650964066949937,1555.9464051278892,rect,0.08451647434587628,-0.31336730631631504,2.675898010306634,11870.319933179879,5931.051488546715,disk,0.5124191499750395,-0.10662840919554406,2.587719775191953,9681.092267199872,5565.596864390578,0.050061557441949844,0.0011531455675140023,-0.033001843839883804,-0.29577770829200745,0.645872950553894,0.6472655534744263,-0.2764253616333008,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1191,1,,2.097810983657837,0.31533060995046336,0.0,0.007291511632502079,0.5314861460957179,12,release,0.04236406087875366,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e029,2,True,-0.05508613586425781,0.4473543167114258,0.013396508044305248,-0.005051373111769513,-7.909685322023847,plate_1536_black,0.48097991943359375,0.1065673828125,-86.88794020368216,0.2951005003378472,1555.9464051278892,rect,0.7072044892350907,-0.31768683239379386,3.0169828170267943,10739.025729992598,5766.915398488491,sphere,1.4197203146088362,-0.7239605742975044,2.137869986049564,4803.710872666639,4506.3774167222455,0.051922764629125595,0.0003995384322479367,-0.03202630579471588,-0.2870396375656128,0.6423763036727905,0.659115731716156,-0.2655698359012604,0.06040199473500252,0.5785200595855713,1.9273682832717896,0.04209756478667259,0.0047531770542263985,0.28721940517425537,0.956927478313446,1259,1,,2.1019978523254395,0.30615275299811345,0.0,0.007342310156673193,0.556791104050834,12,release,0.04232454299926758,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e000,0,True,0.027825355529785156,0.4470233917236328,0.001567765283884401,-0.012335826996817508,-4.490570691430321,plate_6_clear,0.4785776138305664,0.06960201263427734,-90.09769568405672,0.24077509091026283,567.4224543935063,rect,-0.4040926904705132,-0.20957669128170803,2.9609153711662137,10532.827228570757,4512.087349279891,disk,0.21501041968362,0.43679588388522395,2.4602642133531236,8188.383553464026,4830.18747353729,0.05377916246652603,0.0006059687584638596,-0.03030707687139511,-0.2724158763885498,0.653462290763855,0.6456980109214783,-0.28609561920166016,0.07212511450052261,0.5564286112785339,1.9436869621276855,0.05312254652380943,-0.0020520880352705717,0.26256465911865234,0.9634488224983215,1246,1,,2.0838985443115234,0.2882460252492974,0.0,0.00738246226683259,0.5112359550561798,12,release,0.04241371154785156,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e001,3,True,-0.10570716857910156,0.4499959945678711,0.002773426522949918,0.00830295989524693,-0.9430930433711637,reservoir_12ch,0.5043811798095703,0.1029367446899414,-92.67006629959731,0.22079681275608834,567.4224543935063,rect,0.3657194837484331,0.2696396521557489,3.041969995060167,13189.36619698509,3959.0911204769714,disk,1.1082161495615157,1.5004952570834191,1.9369121948731485,10442.793213014547,6545.255403636641,0.05013968050479889,-0.00012770899047609419,-0.027503058314323425,-0.2843722701072693,0.6516844630241394,0.6480833888053894,-0.27281445264816284,0.04768693819642067,0.5670608282089233,1.9684035778045654,0.0266533475369215,0.006988747511059046,0.26533520221710205,0.9637624025344849,1219,1,,2.0854694843292236,0.31511739677839057,0.0,0.007445910479873419,0.5200984413453651,12,release,0.04293704032897949,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e002,2,True,-0.03728199005126953,0.44766712188720703,-0.003648346416309586,-0.011352461620834286,2.4131926078590027,deep_well_24_10ml,0.46108436584472656,0.05295372009277344,-89.22600429314458,0.15651012456045216,567.4224543935063,rect,0.16680352982859847,0.5487508816711995,2.977977126173049,14310.119702225475,5770.761552889262,sphere,-0.8991029780727494,-0.5259012654669551,2.4775473333655844,7116.2182223649625,6564.522436264947,0.05026443302631378,0.0006847024778835475,-0.029530370607972145,-0.27715766429901123,0.6539199352264404,0.6379355192184448,-0.29767537117004395,0.06020154803991318,0.5933516025543213,1.9509679079055786,0.058558493852615356,0.0220327265560627,0.2615526616573334,0.9631592035293579,1304,1,,2.0836760997772217,0.24674730547632062,0.0,0.007469556760042906,0.5391104294478528,12,release,0.042795419692993164,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e003,1,True,-0.022922515869140625,0.4499998092651367,0.0021646199446051294,0.007428233582628043,-8.940856967510939,plate_12_clear,0.5073986053466797,0.06928730010986328,-91.82278213780425,0.246165024636186,567.4224543935063,rect,0.2133183187175186,-0.025474140785033905,3.115422562004403,11661.25907142225,3233.920873599702,sphere,-1.5231666769712016,-0.5052628416160483,2.170445541497147,6983.437428820737,4825.891749705469,0.048646919429302216,0.002109092427417636,-0.028556425124406815,-0.2860580384731293,0.6392267346382141,0.6547438502311707,-0.28437724709510803,0.027449186891317368,0.5843407511711121,1.9452497959136963,0.059618908911943436,0.020344076678156853,0.27151134610176086,0.9603714346885681,1314,1,,2.1111972332000732,0.3133487147073516,0.0,0.007368830963969231,0.5350076103500762,12,release,0.04213738441467285,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e004,0,True,-0.07007789611816406,0.44730186462402344,0.01086104186459776,-0.0014031881322418465,-12.064418996130115,plate_96_black,0.4785776138305664,0.06960201263427734,-90.09769568405672,0.24104070953644285,562.439854874685,rect,-0.1172082568759445,-0.3423548809181153,3.0740183107838277,12026.178309131377,6892.116650893458,disk,0.49991322781460434,-0.7561983339848749,2.0107601921728797,10105.893630416507,6231.302074031362,0.05213997885584831,5.17295666213613e-05,-0.02739769034087658,-0.2670097053050995,0.6539633274078369,0.6478226780891418,-0.28524288535118103,0.07212511450052261,0.5564286112785339,1.9436869621276855,0.05312254652380943,-0.0020520880352705717,0.26256465911865234,0.9634488224983215,1212,1,,2.0981807708740234,0.27882596851276015,0.0,0.007290846202522516,0.528052805280528,12,release,0.04227638244628906,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e005,2,True,-0.08904647827148438,0.45000267028808594,0.007313307120831968,0.008332738886008658,2.6464859910554708,plate_24_clear,0.46108436584472656,0.05295372009277344,-89.22600429314458,0.28919758668352813,562.439854874685,rect,-0.5713510052145037,-0.21645033635969801,2.916785941019696,8671.720660263356,5549.860739306507,sphere,1.2729762571578482,-0.8294924995620967,2.385238851039251,9598.950300074415,3852.394570646754,0.04876372590661049,0.0011661320459097624,-0.028585566207766533,-0.2735063135623932,0.6550015807151794,0.637269914150238,-0.3000905513763428,0.06020154803991318,0.5933516025543213,1.9509679079055786,0.058558493852615356,0.0220327265560627,0.2615526616573334,0.9631592035293579,1220,1,,2.063784122467041,0.2933558660762893,0.0,0.007335471920669079,0.5221311475409836,12,release,0.04223132133483887,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e006,3,True,-0.1411571502685547,0.45000171661376953,-0.0036642923022449036,0.0039899202694752564,-7.090102676313222,reservoir_12ch,0.5043811798095703,0.1029367446899414,-92.67006629959731,0.2566460006249343,562.439854874685,rect,-0.3163918782700297,-0.17214218733421022,2.7137601128139854,15262.471309152803,4670.0739710491835,disk,-0.3365176374280199,-0.2982527444214672,2.0835622271845184,4868.702400947768,4101.750472246023,0.05015191435813904,-0.0007203712011687458,-0.028403664007782936,-0.2812974452972412,0.650697648525238,0.6504661440849304,-0.27268683910369873,0.04768693819642067,0.5670608282089233,1.9684035778045654,0.0266533475369215,0.006988747511059046,0.26533520221710205,0.9637624025344849,1230,1,,2.0870583057403564,0.2861161621464656,0.0,0.00744325527921319,0.5113821138211382,12,release,0.042218565940856934,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e007,1,True,-0.07451057434082031,0.44781017303466797,-0.0009618266032880133,-0.001971147537128761,2.3584774628395166,pcr_384_red,0.5073986053466797,0.06928730010986328,-91.82278213780425,0.242885779680157,562.439854874685,rect,-0.5670036210377201,0.27244407847205476,2.6112321593175243,10650.371838744191,5229.292782785412,sphere,-0.6337135217851435,1.5393330429475698,1.6065101928044345,5380.388277259667,3276.999021438609,0.048903483897447586,0.000922145030926913,-0.028960302472114563,-0.2892361879348755,0.6415966153144836,0.6521445512771606,-0.28178662061691284,0.027449186891317368,0.5843407511711121,1.9452497959136963,0.059618908911943436,0.020344076678156853,0.27151134610176086,0.9603714346885681,1208,1,,2.0829784870147705,0.2976423042126313,0.0,0.006828090641647577,0.527317880794702,12,release,0.042334556579589844,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e008,3,True,-0.058768272399902344,0.45000171661376953,-0.014048634355531466,-0.003874568451947785,-6.846972747095123,plate_96_clear,0.5043811798095703,0.1029367446899414,-92.67006629959731,0.27082446593718346,572.0284038039094,rect,0.7791149858693575,0.1848710893282529,2.838181585357317,10694.353791711055,6799.95548987672,disk,-0.3440606011196079,0.8584886058839423,2.272703875539362,9332.78427397096,6004.671518565663,0.04632425680756569,-0.0018919556168839335,-0.029475295916199684,-0.28285351395606995,0.650464653968811,0.6489621996879578,-0.27520468831062317,0.04768693819642067,0.5670608282089233,1.9684035778045654,0.0266533475369215,0.006988747511059046,0.26533520221710205,0.9637624025344849,1215,1,,2.1164181232452393,0.2943186582746632,0.0,0.007256452925503254,0.5267489711934157,12,release,0.04215562343597412,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e009,0,True,-0.029680252075195312,0.4499979019165039,-0.009922161608644111,-0.0052773816983217115,-5.3253641900334685,plate_6_clear,0.4785776138305664,0.06960201263427734,-90.09769568405672,0.20724692736091144,572.0284038039094,rect,0.4598324851238297,-0.028700957211916622,2.9288907812297733,6392.309600686169,5221.30920521157,disk,-0.7522789889285582,0.7530206320403481,1.8359609258934908,3949.3375590157593,4780.65685415298,0.053855448961257935,-0.00023740576580166817,-0.029458370059728622,-0.26764169335365295,0.6583658456802368,0.6445053815841675,-0.2820197641849518,0.07212511450052261,0.5564286112785339,1.9436869621276855,0.05312254652380943,-0.0020520880352705717,0.26256465911865234,0.9634488224983215,1295,1,,2.07879638671875,0.30023420199047546,0.0,0.007395172491669655,0.5413127413127413,12,release,0.04245948791503906,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e010,2,True,-0.041161537170410156,0.4499998092651367,-0.01487836330662186,0.010222823110655433,3.7627379246955854,plate_384_black,0.46108436584472656,0.05295372009277344,-89.22600429314458,0.24621652473522804,572.0284038039094,rect,0.8121219613711129,0.4254210479656807,2.9482619426945895,6816.062439922414,6950.767387104859,sphere,-0.606463768752828,0.39505804456499627,1.8278257568087553,8627.453621135888,3818.560828034334,0.050030339509248734,0.0013978452188894153,-0.029609236866235733,-0.2762722969055176,0.6548646092414856,0.6389395594596863,-0.29424849152565,0.06020154803991318,0.5933516025543213,1.9509679079055786,0.058558493852615356,0.0220327265560627,0.2615526616573334,0.9631592035293579,1341,1,,2.0812182426452637,0.2486882837321989,0.0,0.007417729124426842,0.5212527964205816,12,release,0.04276847839355469,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e011,1,True,-0.08623695373535156,0.44742679595947266,-0.011886822908519737,-0.0022719051535627878,4.593778538241821,plate_96_white,0.5073986053466797,0.06928730010986328,-91.82278213780425,0.28199888233810144,572.0284038039094,rect,0.08349073989743416,0.28238400085267756,2.8193412453552797,7816.936152399001,5092.998193816951,sphere,-0.5433814144743019,0.41049877576852567,2.4822627458746878,5095.610492586618,4588.472544847444,0.04791959375143051,-0.00090382358757779,-0.025214506313204765,-0.28498589992523193,0.642892062664032,0.6514987349510193,-0.28464409708976746,0.027449186891317368,0.5843407511711121,1.9452497959136963,0.059618908911943436,0.020344076678156853,0.27151134610176086,0.9603714346885681,1234,1,,2.1172561645507812,0.2695352103923158,0.0,0.007313343230634928,0.5170178282009724,12,release,0.04237103462219238,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e012,3,True,0.07532691955566406,0.45000267028808594,-0.006166551811202759,-0.011289112687409281,-10.731184947640429,plate_48_clear,0.5043811798095703,0.1029367446899414,-92.67006629959731,0.22686051537613533,572.0284038039094,rect,0.5981466178572613,-0.07312009662819358,2.6550647369514797,10251.31919685574,6953.469296889072,disk,-0.6999257161560013,1.1349535519630904,2.1369766931009044,4187.227093460781,6096.4692529726535,0.04781249165534973,-0.0021527132485061884,-0.028295909985899925,-0.27954816818237305,0.6455531716346741,0.6561979055404663,-0.27298039197921753,0.04768693819642067,0.5670608282089233,1.9684035778045654,0.0266533475369215,0.006988747511059046,0.26533520221710205,0.9637624025344849,1202,1,,2.0640695095062256,0.31887003628658783,0.0,0.007333941757678986,0.5341098169717138,12,release,0.04214274883270264,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e013,2,True,0.1037445068359375,0.4499959945678711,-0.010634167218656315,-0.004361774603919473,-7.767534529456185,plate_24_clear,0.46108436584472656,0.05295372009277344,-89.22600429314458,0.16568401705665997,1274.3404505210538,rect,0.8204963480947253,-0.10353977225015026,2.950588049365347,4989.447234535344,5505.544096841381,sphere,-1.0834808856399476,-0.5352039112151203,2.0941265427418063,5579.493801579838,5869.118865182684,0.04794006049633026,0.0018655373714864254,-0.02953021600842476,-0.2743672728538513,0.6531400680541992,0.6387733817100525,-0.3001653552055359,0.06020154803991318,0.5933516025543213,1.9509679079055786,0.058558493852615356,0.0220327265560627,0.2615526616573334,0.9631592035293579,1217,1,,2.1406261920928955,0.2889453938625717,0.0,0.0073253256268799305,0.5283483976992605,12,release,0.04211980104446411,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e014,0,True,0.10572147369384766,0.44742488861083984,0.012440118285450392,0.002071769061790851,4.038854112971279,plate_96_black,0.4785776138305664,0.06960201263427734,-90.09769568405672,0.15226027158571825,1274.3404505210538,rect,-0.10200394787448386,-0.20370468398893987,2.743364424968544,8688.10370972486,5622.36556067321,disk,1.6885695316620057,1.1091494651279137,2.4715990743068654,9972.360936087498,6544.570530928751,0.053212378174066544,0.0022291247732937336,-0.02624271996319294,-0.265602707862854,0.6528574228286743,0.6501538753509521,-0.28378209471702576,0.07212511450052261,0.5564286112785339,1.9436869621276855,0.05312254652380943,-0.0020520880352705717,0.26256465911865234,0.9634488224983215,1241,1,,2.0372087955474854,0.30365636942347174,0.0,0.007308880798518658,0.508460918614021,12,release,0.042331039905548096,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e015,1,True,0.011456489562988281,0.4500751495361328,0.007522378642419305,0.008109700169695404,3.3149666609741075,deep_well_96_1ml,0.5073986053466797,0.06928730010986328,-91.82278213780425,0.2491975799183133,1274.3404505210538,rect,0.8036617157846905,0.31535863209865145,2.6509481202913463,15972.02965812777,4842.7563277361205,sphere,-0.7945654814739017,0.8759561716446973,2.7180859497096375,3098.8717649745995,4060.6080812284195,0.04892420768737793,0.0004315346013754606,-0.028439009562134743,-0.2831094264984131,0.6488150358200073,0.6482985019683838,-0.28035181760787964,0.027449186891317368,0.5843407511711121,1.9452497959136963,0.059618908911943436,0.020344076678156853,0.27151134610176086,0.9603714346885681,1257,1,,2.0817954540252686,0.3138630003796945,0.0,0.0074699800461530685,0.5043754972155927,12,release,0.04269981384277344,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e016,3,True,0.027729034423828125,0.44820404052734375,-0.0024266204186666838,0.00045271157002842004,8.423906592108949,plate_96_clear,0.5043811798095703,0.1029367446899414,-92.67006629959731,0.28996320416141164,1274.3404505210538,rect,-0.2365571643979546,0.04638629863447641,2.6437572164920726,10580.533916648135,7139.442953314949,disk,-0.4387585461058987,1.2361746903736222,2.0802987243491518,2923.791666227249,4753.263731888516,0.04846156761050224,-0.001980746630579233,-0.02912171185016632,-0.2779531478881836,0.6476771831512451,0.6536116003990173,-0.27576836943626404,0.04768693819642067,0.5670608282089233,1.9684035778045654,0.0266533475369215,0.006988747511059046,0.26533520221710205,0.9637624025344849,1235,1,,2.110006809234619,0.3224237873867373,0.0,0.007311948575079441,0.5279352226720648,12,release,0.042206525802612305,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e017,2,True,0.09278488159179688,0.45000553131103516,-0.004544335660064689,0.009058910572066403,6.929424308705819,deep_well_24_10ml,0.46108436584472656,0.05295372009277344,-89.22600429314458,0.21084452446138982,1274.3404505210538,rect,0.011638165219638341,-0.2854807834127004,3.0795878886587302,10566.21318847832,6851.981536353935,sphere,-0.8715140749991575,0.1491070706334201,2.451264126289352,1738.8147827402404,2960.8570506566593,0.051178764551877975,0.0033619077876210213,-0.028290575370192528,-0.27354127168655396,0.654394268989563,0.640696108341217,-0.2940269708633423,0.06020154803991318,0.5933516025543213,1.9509679079055786,0.058558493852615356,0.0220327265560627,0.2615526616573334,0.9631592035293579,1196,1,,2.092475652694702,0.2943279420862231,0.0,0.007480074651539326,0.5392976588628763,12,release,0.0420989990234375,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e018,0,True,-0.12363624572753906,0.4478282928466797,0.007125057503993216,-0.009664295220772716,9.648738902267581,plate_6_clear,0.4785776138305664,0.06960201263427734,-90.09769568405672,0.1575272148387137,416.9819617752422,rect,-0.2715398126138492,0.5369447480111869,2.986820849046414,5768.864369573394,3644.017118828232,disk,-0.7409923308330045,-0.36320547441288265,2.485012469908174,9413.064176633694,7005.915892546543,0.05165169760584831,-0.0013072970323264599,-0.02636842429637909,-0.2663024365901947,0.652083694934845,0.650478184223175,-0.28416183590888977,0.07212511450052261,0.5564286112785339,1.9436869621276855,0.05312254652380943,-0.0020520880352705717,0.26256465911865234,0.9634488224983215,1284,1,,2.1051454544067383,0.3080624907078481,0.0,0.00734327919781208,0.4953271028037383,12,release,0.04213714599609375,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e019,1,True,0.006084442138671875,0.45000171661376953,0.0070450889906975905,-0.008814574483662137,2.988859341558964,plate_12_clear,0.5073986053466797,0.06928730010986328,-91.82278213780425,0.27606336557651734,416.9819617752422,rect,0.1469071572402113,-0.39127202087745183,3.0379691625481864,9154.20462364953,6702.101772199214,sphere,-1.4030857143820288,1.3596035491778096,2.3582607614126037,7521.748996254356,4124.5399725167135,0.05080835148692131,0.0012277390342205763,-0.027685323730111122,-0.2863507568836212,0.6476129293441772,0.6471049785614014,-0.28258782625198364,0.027449186891317368,0.5843407511711121,1.9452497959136963,0.059618908911943436,0.020344076678156853,0.27151134610176086,0.9603714346885681,1314,1,,2.1040327548980713,0.3078944720817756,0.0,0.007318497635424137,0.5365296803652968,12,release,0.04231977462768555,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e020,3,True,-0.05767631530761719,0.4499988555908203,-0.010995914991740309,-0.008731778920849597,4.511952858951247,plate_48_clear,0.5043811798095703,0.1029367446899414,-92.67006629959731,0.2072621430383989,416.9819617752422,rect,-0.002155383007113265,-0.30469552118529,2.7791184081566573,13193.502770413184,3935.720949624219,disk,0.4715599265378363,0.039026767572960974,1.884284952123294,5608.323300234906,7109.635100400863,0.048984281718730927,-0.002916880650445819,-0.029457904398441315,-0.2837984561920166,0.6454117298126221,0.6529486775398254,-0.27669498324394226,0.04768693819642067,0.5670608282089233,1.9684035778045654,0.0266533475369215,0.006988747511059046,0.26533520221710205,0.9637624025344849,1178,1,,2.0613040924072266,0.25887597687267705,0.0,0.007288817781955004,0.5432937181663837,12,release,0.042699337005615234,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e021,2,True,-0.11171245574951172,0.45000457763671875,-0.01057907434425863,0.009983996590859662,-5.543696599588657,plate_24_clear,0.46108436584472656,0.05295372009277344,-89.22600429314458,0.2831952633593305,416.9819617752422,rect,0.3558476845098817,-0.4249025561153189,3.009047077807463,6381.431556922362,5675.461419256553,sphere,0.16695171739537384,-1.1351494675087288,1.6551173227478495,7605.054037687152,6815.7495795889145,0.04803815484046936,0.0022063625510782003,-0.028201309964060783,-0.2737603485584259,0.6555659174919128,0.6389968991279602,-0.29490938782691956,0.06020154803991318,0.5933516025543213,1.9509679079055786,0.058558493852615356,0.0220327265560627,0.2615526616573334,0.9631592035293579,1172,1,,2.1121175289154053,0.27602545991652866,0.0,0.007263819687068462,0.5392491467576792,12,release,0.042331695556640625,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e022,0,True,0.033471107482910156,0.4499950408935547,-0.008011096485618622,0.0055300209578085895,-11.77903551999438,plate_96_black,0.4785776138305664,0.06960201263427734,-90.09769568405672,0.21625355491536663,1582.3679995326465,rect,0.6026015445209513,0.19077870044326117,2.750407337006076,11465.002247045115,5208.24330203879,disk,0.28369527369405523,1.5213389419359744,2.5597757741424374,9770.428513640454,6393.166188833957,0.05287803336977959,-0.0018749876180663705,-0.028744466602802277,-0.27202466130256653,0.6574064493179321,0.642020583152771,-0.2857078015804291,0.07212511450052261,0.5564286112785339,1.9436869621276855,0.05312254652380943,-0.0020520880352705717,0.26256465911865234,0.9634488224983215,1162,1,,2.063570976257324,0.3126061393145469,0.0,0.007335670758038759,0.544750430292599,12,release,0.04219377040863037,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e023,1,True,0.1143951416015625,0.45000171661376953,-0.007426658646563927,0.0029792434239867866,3.83360270894633,plate_12_clear,0.5073986053466797,0.06928730010986328,-91.82278213780425,0.2501391787371674,1582.3679995326465,rect,-0.4407399134560633,0.4875319680233554,3.063390102132477,15697.484169566076,6906.084458299745,sphere,1.7873066406544709,1.4461061758124443,1.9856931623601184,3113.6837876976324,4328.187027834299,0.04717930406332016,0.0007437780732288957,-0.028004823252558708,-0.2904728651046753,0.6430189609527588,0.6517167091369629,-0.2782398760318756,0.027449186891317368,0.5843407511711121,1.9452497959136963,0.059618908911943436,0.020344076678156853,0.27151134610176086,0.9603714346885681,1261,1,,2.0765936374664307,0.3224091650962579,0.0,0.00736099062487483,0.5122918318794607,12,release,0.04214048385620117,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e024,3,True,0.02571868896484375,0.45000362396240234,0.010982727234956339,-0.0036233143896873244,-9.626531564519155,plate_96_clear,0.5043811798095703,0.1029367446899414,-92.67006629959731,0.2895761492120609,1582.3679995326465,rect,0.6685016285454738,0.07471577369116844,2.7263207915881216,14078.875287801284,5189.465894644962,disk,1.544010708233718,0.18930961110829747,2.7773729585028892,4701.239720539109,6174.0854997417055,0.04831917583942413,-0.002460668096318841,-0.028925739228725433,-0.2861391305923462,0.6456941366195679,0.6502863764762878,-0.27987709641456604,0.04768693819642067,0.5670608282089233,1.9684035778045654,0.0266533475369215,0.006988747511059046,0.26533520221710205,0.9637624025344849,1253,1,,2.088690757751465,0.2977913901139945,0.0,0.007256085053086281,0.5211492418196328,12,release,0.042294085025787354,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e025,2,True,-0.07719993591308594,0.4495840072631836,-0.005500785410840298,-0.0010775985238877226,-8.193493519212723,plate_384_black,0.46108436584472656,0.05295372009277344,-89.22600429314458,0.17937655972080382,1592.2227817066223,rect,-0.584216687368027,0.3140593623874206,2.7880951389728588,6058.3733032648215,6058.06768616708,sphere,1.0539220902807922,-0.8139646017289067,2.6458601505974086,9359.808977705638,3842.4776879714054,0.04857506603002548,0.0031312101054936647,-0.029238440096378326,-0.2758527994155884,0.654777467250824,0.6384305953979492,-0.2959359586238861,0.06020154803991318,0.5933516025543213,1.9509679079055786,0.058558493852615356,0.0220327265560627,0.2615526616573334,0.9631592035293579,1211,1,,2.0658535957336426,0.24318746946063732,0.0,0.0074166287668049335,0.5268373245251858,12,release,0.04224073886871338,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e026,0,True,-0.07346343994140625,0.44739341735839844,-0.011285889301806512,-0.008530746005752442,-2.862496036224968,pcr_96_blue,0.4785776138305664,0.06960201263427734,-90.09769568405672,0.2116409240656512,1592.2227817066223,rect,0.7504783459857213,0.23799558667041587,2.9049737271480445,6680.337818798473,5240.412799810103,disk,-1.3385744715561847,0.5819510377213335,1.9191200972193696,6172.8128918456405,4618.003688152252,0.053779251873493195,0.002327791415154934,-0.029186980798840523,-0.26593881845474243,0.6538109183311462,0.6502285599708557,-0.281088262796402,0.07212511450052261,0.5564286112785339,1.9436869621276855,0.05312254652380943,-0.0020520880352705717,0.26256465911865234,0.9634488224983215,1274,1,,2.0995304584503174,0.3023827986028885,0.0,0.006749025546014309,0.5007849293563579,12,release,0.04245758056640625,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e027,1,True,-0.07108783721923828,0.4499998092651367,-0.002396525497717533,0.008584038731437794,-4.912407862562503,pcr_384_red,0.5073986053466797,0.06928730010986328,-91.82278213780425,0.17198606878220626,1592.2227817066223,rect,0.27381973390498315,0.3842666652383555,2.841306736393693,8265.525798051425,3689.478301966357,sphere,0.9664459991812442,1.3775803601213588,2.4866437009354523,2255.2961313393025,5891.17539324208,0.04698238894343376,4.774521949002519e-05,-0.028160879388451576,-0.28518277406692505,0.6440913081169128,0.6516867280006409,-0.2812855839729309,0.027449186891317368,0.5843407511711121,1.9452497959136963,0.059618908911943436,0.020344076678156853,0.27151134610176086,0.9603714346885681,1213,1,,2.0643231868743896,0.24075909828297742,0.0,0.006822986528277397,0.5234954657873042,12,release,0.042428016662597656,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e028,3,True,-0.01648235321044922,0.44754981994628906,-0.009745582256576502,0.004667611898819282,11.582252802481008,plate_96_clear,0.5043811798095703,0.1029367446899414,-92.67006629959731,0.2999998588855749,1592.2227817066223,rect,0.41648840848548774,-0.4028881337988064,2.714308282971758,12050.225462093607,3784.991798931186,disk,0.3812592090956217,1.5531936652062208,2.3411245335586184,7884.601964106611,4102.370390020342,0.04867066815495491,-0.0012108009541407228,-0.028942033648490906,-0.2812076508998871,0.6501308083534241,0.6510717868804932,-0.2726861238479614,0.04768693819642067,0.5670608282089233,1.9684035778045654,0.0266533475369215,0.006988747511059046,0.26533520221710205,0.9637624025344849,1223,1,,2.118180751800537,0.2897436995573497,0.0,0.0073092286475002766,0.5756336876533116,12,release,0.04241132736206055,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e029,2,True,0.10483837127685547,0.45000171661376953,-0.012973852703603,-0.006603108730453146,-11.514677242641056,plate_384_black,0.46108436584472656,0.05295372009277344,-89.22600429314458,0.15659714219855855,1592.2227817066223,rect,-0.4630700466757568,-0.30857902464116793,3.1598627083149333,6727.084589505335,3469.885990565705,sphere,0.9614089262587799,1.1131672327656632,2.042104325504847,1733.120516881019,5800.131289112038,0.05103572830557823,-0.0003630725259426981,-0.027071958407759666,-0.27552005648612976,0.654379665851593,0.6386007070541382,-0.2967575192451477,0.06020154803991318,0.5933516025543213,1.9509679079055786,0.058558493852615356,0.0220327265560627,0.2615526616573334,0.9631592035293579,1171,1,,2.0641369819641113,0.23788072801460208,0.0,0.007413615472614765,0.5345858240819812,12,release,0.042275071144104004,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e030,0,True,0.038641929626464844,0.4499998092651367,0.007870740389592715,-0.0033024162516935764,2.681019720602677,deep_well_96_2ml,0.4785776138305664,0.06960201263427734,-90.09769568405672,0.20395857836751008,1187.0108031348204,rect,-0.44955486960688795,0.45388583512317227,3.122500105031773,14075.819030627645,4737.637082459741,disk,-0.9661400431490466,1.0400936083589774,2.2059137205682973,3787.2575355765107,6196.705226470787,0.052295684814453125,-0.0004835277795791626,-0.026929331943392754,-0.2727387547492981,0.655778706073761,0.6434162259101868,-0.2856281101703644,0.07212511450052261,0.5564286112785339,1.9436869621276855,0.05312254652380943,-0.0020520880352705717,0.26256465911865234,0.9634488224983215,1209,1,,2.059932231903076,0.3030329605081397,0.0,0.007515700999647379,0.5351530190239868,12,release,0.04342508316040039,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e031,1,True,-0.060194969177246094,0.45000171661376953,-0.010316427459722425,-0.007431615142360155,-2.428813844101853,plate_12_clear,0.5073986053466797,0.06928730010986328,-91.82278213780425,0.24409856322149193,1187.0108031348204,rect,0.3851682158487638,0.34995616100596894,2.7770520907389153,12433.518414883936,4568.35684941901,sphere,0.6742931295394659,-0.1572140894761096,2.4052573139188826,6338.180769532121,4798.981817381634,0.04650883376598358,-9.881378355203196e-05,-0.029632264748215675,-0.283603310585022,0.6408678293228149,0.6558674573898315,-0.2805272340774536,0.027449186891317368,0.5843407511711121,1.9452497959136963,0.059618908911943436,0.020344076678156853,0.27151134610176086,0.9603714346885681,1264,1,,2.155660390853882,0.3014367484811141,0.0,0.0073730479925870895,0.5506329113924051,12,release,0.04234910011291504,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e032,3,True,0.07609748840332031,0.45000171661376953,0.01303789081780561,-0.007919920756958883,1.8624535477516986,reservoir_12ch,0.5043811798095703,0.1029367446899414,-92.67006629959731,0.16606183927109053,1187.0108031348204,rect,-0.23530230804117935,0.16585268186376656,2.9489207913191198,11333.17980298063,6542.2569042869,disk,-1.3880778721551839,1.3603668809594296,2.622991963400356,4339.074036247285,5536.6643320405765,0.04965873062610626,-0.0028014176059514284,-0.03023473359644413,-0.28463149070739746,0.6474370956420898,0.6525111198425293,-0.2721017003059387,0.04768693819642067,0.5670608282089233,1.9684035778045654,0.0266533475369215,0.006988747511059046,0.26533520221710205,0.9637624025344849,1175,1,,2.100189208984375,0.26400396469260673,0.0,0.007395452819764614,0.5370212765957447,12,release,0.04249930381774902,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e033,2,True,0.045523643493652344,0.4499998092651367,-0.0047321321906786005,-0.0035657879602672194,-5.765184549494819,plate_24_clear,0.46108436584472656,0.05295372009277344,-89.22600429314458,0.1567012945140137,1187.0108031348204,rect,0.6437728654033216,0.21763036642360978,2.931453054065288,5066.687550016733,5689.609937720865,sphere,-1.46835954934977,-0.02297100481120662,1.8725199775891286,5676.903784249274,4554.120564484227,0.0497584231197834,0.003803202649578452,-0.030153818428516388,-0.2763439118862152,0.6559773087501526,0.6385285258293152,-0.2925903797149658,0.06020154803991318,0.5933516025543213,1.9509679079055786,0.058558493852615356,0.0220327265560627,0.2615526616573334,0.9631592035293579,1180,1,,2.0678625106811523,0.283956925991753,0.0,0.007334250025451183,0.5406779661016949,12,release,0.04204428195953369,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e034,1,True,-0.03881645202636719,0.45000267028808594,-0.008752607911115531,-0.005035774036471737,-9.503560777120953,pcr_384_red,0.5073986053466797,0.06928730010986328,-91.82278213780425,0.28647624910151864,685.4864358570453,rect,0.7725961701538443,0.32169637413146746,2.624851479727799,11074.057882584137,3918.365198156218,sphere,-0.1326511081653623,-1.0620750048291348,2.6061151648076137,1800.0814206991613,3266.69518876382,0.047047048807144165,-0.0001162765984190628,-0.0302018690854311,-0.28178882598876953,0.6481146812438965,0.6516963839530945,-0.2753802537918091,0.027449186891317368,0.5843407511711121,1.9452497959136963,0.059618908911943436,0.020344076678156853,0.27151134610176086,0.9603714346885681,1222,1,,2.0604183673858643,0.32129377612837984,0.0,0.0068458984605968,0.5736497545008183,12,release,0.042281389236450195,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e035,0,True,-0.03432273864746094,0.4499988555908203,-0.012035408131860348,-0.0005016693479004088,10.641718209807493,plate_6_clear,0.4785776138305664,0.06960201263427734,-90.09769568405672,0.2641161604212719,685.4864358570453,rect,-0.055444051876944234,-0.18958286143641867,2.994390327880743,6416.801951611395,6721.502682776309,disk,-1.0476612861279915,1.0814906042862706,2.4689570574623216,7741.836978533038,4131.990087641648,0.05242462456226349,-0.00047497826744802296,-0.027715768665075302,-0.26687610149383545,0.6547876000404358,0.6480435132980347,-0.28296640515327454,0.07212511450052261,0.5564286112785339,1.9436869621276855,0.05312254652380943,-0.0020520880352705717,0.26256465911865234,0.9634488224983215,1258,1,,2.1374807357788086,0.27215556087851084,0.0,0.007385963574051857,0.5604133545310016,12,release,0.04242229461669922,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e036,3,True,0.09989547729492188,0.4500007629394531,0.006246806087444708,-0.010867934956844382,4.045650592247057,plate_48_clear,0.5043811798095703,0.1029367446899414,-92.67006629959731,0.2525416271712929,685.4864358570453,rect,0.03978526150912687,0.006141102730749748,2.9075423012680206,14725.492365107379,5326.296701160408,disk,0.049548851622139845,-0.09159687270466477,2.390863522270157,7780.027013501703,2824.235504654649,0.047589026391506195,-0.0037714429199695587,-0.029833214357495308,-0.2869570851325989,0.6487581729888916,0.6488019227981567,-0.2753625214099884,0.04768693819642067,0.5670608282089233,1.9684035778045654,0.0266533475369215,0.006988747511059046,0.26533520221710205,0.9637624025344849,1165,1,,2.0515856742858887,0.2950009477244354,0.0,0.0072602080181241035,0.5545064377682404,12,release,0.04216337203979492,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e037,2,True,0.1494588851928711,0.45000171661376953,0.011549185001656623,0.011026184453527653,-1.3987378688655667,deep_well_24_10ml,0.46108436584472656,0.05295372009277344,-89.22600429314458,0.23539182097075584,685.4864358570453,rect,-0.3300290885754671,0.21097341062572406,3.005663082140166,9161.010648471827,6911.144167302064,sphere,1.7056406294066644,1.5301055770793817,2.4402189659934983,6654.793782408187,7340.312472804705,0.047082144767045975,0.0011285444488748908,-0.02939733676612377,-0.27675187587738037,0.6554967761039734,0.6376360058784485,-0.2952163815498352,0.06020154803991318,0.5933516025543213,1.9509679079055786,0.058558493852615356,0.0220327265560627,0.2615526616573334,0.9631592035293579,1195,1,,2.093768358230591,0.24698310789027075,0.0,0.007520712446421385,0.5280334728033472,12,release,0.04283428192138672,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e038,1,True,0.13494586944580078,0.4499979019165039,-0.0042427973772125255,-0.006575648713912581,-6.836462957675167,plate_12_clear,0.5073986053466797,0.06928730010986328,-91.82278213780425,0.28780552436492524,1265.161915197668,rect,0.6039944146985118,-0.038714914152549906,3.0539334386058155,4507.60321790091,5922.488926018775,sphere,-1.1723397271933993,-0.8526476082839657,2.2250597730616857,6715.080291823666,5099.804744672004,0.048309627920389175,-0.0010591218015179038,-0.02938324585556984,-0.28344571590423584,0.6457953453063965,0.6521817445755005,-0.2779674828052521,0.027449186891317368,0.5843407511711121,1.9452497959136963,0.059618908911943436,0.020344076678156853,0.27151134610176086,0.9603714346885681,1180,1,,2.1378884315490723,0.29056443198306786,0.0,0.007367081008851528,0.5364406779661017,12,release,0.04212236404418945,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p000_e039,0,True,0.00030231475830078125,0.4475288391113281,-0.003322114706413688,0.00329716536652085,8.936385319440916,plate_6_clear,0.4785776138305664,0.06960201263427734,-90.09769568405672,0.2582152713250421,1265.161915197668,rect,0.8497917087249068,0.13914671360275466,2.9135247482463558,15187.781179343743,6550.810298552004,disk,-0.19776720767940947,0.14641244139590515,2.0036865147428338,8821.766391141642,4702.197270787159,0.05473260208964348,-0.0015966813080012798,-0.029600104317069054,-0.2717776596546173,0.6540635824203491,0.6472756266593933,-0.2817302942276001,0.07212511450052261,0.5564286112785339,1.9436869621276855,0.05312254652380943,-0.0020520880352705717,0.26256465911865234,0.9634488224983215,1289,1,,2.0857293605804443,0.26376703586390055,0.0,0.007313812151551247,0.5492629945694336,12,release,0.042436838150024414,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e000,2,True,-0.105621337890625,0.44698238372802734,-0.009377334935137767,-0.0007803032895522633,10.296772045389844,plate_24_clear,0.5043811798095703,0.1029367446899414,-92.67006629959731,0.22079681275608834,1494.4946316170299,rect,0.3657194837484331,0.2696396521557489,3.041969995060167,13189.36619698509,3959.0911204769714,disk,1.1082161495615157,1.5004952570834191,1.9369121948731485,10442.793213014547,6545.255403636641,0.0481087900698185,-0.0024489571806043386,-0.03090188279747963,-0.28543806076049805,0.6491069197654724,0.6498626470565796,-0.27361252903938293,0.04768693819642067,0.5670608282089233,1.9684035778045654,0.0266533475369215,0.006988747511059046,0.26533520221710205,0.9637624025344849,1236,1,,2.150758743286133,0.263679238397425,0.0,0.007325293496251106,0.5153721682847896,12,release,0.042279958724975586,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e001,3,True,-0.017806053161621094,0.45000362396240234,-0.0053587010674527,0.00028886902997726695,-4.900641430920643,plate_48_clear,0.47048377990722656,0.05947589874267578,-91.34558428571121,0.22111961216322235,1494.4946316170299,rect,0.19028460904039723,0.5222936738942385,2.931009916651897,12048.900547447109,5161.053932889608,disk,0.3063800069909848,0.04275967230268152,2.74055730422653,3671.5590395821855,4939.342271000245,0.05162264406681061,0.0022206478752195835,-0.0328938290476799,-0.28738632798194885,0.6489758491516113,0.6474826335906982,-0.27749890089035034,0.07018949836492538,0.5963824391365051,1.9676952362060547,0.020301848649978638,0.00039045215817168355,0.2840040624141693,0.9586080312728882,1255,1,,2.0996899604797363,0.287249341220365,0.0,0.007333551533520222,0.5099601593625498,12,release,0.04231297969818115,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e002,1,True,-0.037799835205078125,0.45000171661376953,-0.012563177657468541,0.009612773252368308,10.260429487595587,plate_96_white,0.46108436584472656,0.05295372009277344,-89.22600429314458,0.15651012456045216,1494.4946316170299,rect,0.16680352982859847,0.5487508816711995,2.977977126173049,14310.119702225475,5770.761552889262,sphere,-0.8991029780727494,-0.5259012654669551,2.4775473333655844,7116.2182223649625,6564.522436264947,0.04990207403898239,-0.0018060083966702223,-0.028399810194969177,-0.27562594413757324,0.6545276045799255,0.6406217217445374,-0.2919379472732544,0.06020154803991318,0.5933516025543213,1.9509679079055786,0.058558493852615356,0.0220327265560627,0.2615526616573334,0.9631592035293579,1345,1,,2.0869317054748535,0.2998352092003168,0.0,0.007303629070520401,0.5226765799256505,12,release,0.04239654541015625,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e003,0,True,-0.022902488708496094,0.44742298126220703,-0.008985377595678794,0.001725866790441418,5.5753699750991075,plate_96_black,0.5073986053466797,0.06928730010986328,-91.82278213780425,0.246165024636186,1494.4946316170299,rect,0.2133183187175186,-0.025474140785033905,3.115422562004403,11661.25907142225,3233.920873599702,sphere,-1.5231666769712016,-0.5052628416160483,2.170445541497147,6983.437428820737,4825.891749705469,0.04707401990890503,-0.00014814164023846388,-0.029072031378746033,-0.2792651355266571,0.6435624361038208,0.6542815566062927,-0.2824074625968933,0.027449186891317368,0.5843407511711121,1.9452497959136963,0.059618908911943436,0.020344076678156853,0.27151134610176086,0.9603714346885681,1294,1,,2.0919532775878906,0.30354804068466706,0.0,0.007290690205991268,0.5440494590417311,12,release,0.04231804609298706,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e004,3,True,0.0014944076538085938,0.45000267028808594,0.0066679816027417314,0.009704009640578187,8.160840467396241,plate_384_white,0.47048377990722656,0.05947589874267578,-91.34558428571121,0.2411036382221401,1494.4946316170299,rect,-0.35513341945091076,0.3400184130074714,2.8316515380139853,4649.7435541313225,4652.46061556198,disk,1.1140313822166275,0.9190127597837414,1.782193620373909,5798.8807757695395,3533.5827126701324,0.05087132006883621,0.006130368448793888,-0.03349205106496811,-0.28633445501327515,0.6513997912406921,0.6439054608345032,-0.2812057435512543,0.07018949836492538,0.5963824391365051,1.9676952362060547,0.020301848649978638,0.00039045215817168355,0.2840040624141693,0.9586080312728882,1279,1,,2.0756382942199707,0.2952851776593724,0.0,0.007415018975734711,0.5535574667709148,12,release,0.04232370853424072,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e005,2,True,-0.14061450958251953,0.4474620819091797,0.0005034180795180957,-0.005891069654480291,-3.5081694841086914,plate_24_clear,0.5043811798095703,0.1029367446899414,-92.67006629959731,0.2566460006249343,1276.2940711366452,rect,-0.3163918782700297,-0.17214218733421022,2.7137601128139854,15262.471309152803,4670.0739710491835,disk,-0.3365176374280199,-0.2982527444214672,2.0835622271845184,4868.702400947768,4101.750472246023,0.04762899503111839,-0.0026449679862707853,-0.028039349243044853,-0.2854110598564148,0.6473520398139954,0.6511792540550232,-0.27466607093811035,0.04768693819642067,0.5670608282089233,1.9684035778045654,0.0266533475369215,0.006988747511059046,0.26533520221710205,0.9637624025344849,1174,1,,2.020693302154541,0.23802934490587244,0.0,0.007343092933297157,0.5374787052810903,12,release,0.04227304458618164,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e006,1,True,-0.08987140655517578,0.4499969482421875,-0.005469217983870134,0.0021755931341963255,-2.079688601394878,deep_well_96_1ml,0.46108436584472656,0.05295372009277344,-89.22600429314458,0.28919758668352813,1276.2940711366452,rect,-0.5713510052145037,-0.21645033635969801,2.916785941019696,8671.720660263356,5549.860739306507,sphere,1.2729762571578482,-0.8294924995620967,2.385238851039251,9598.950300074415,3852.394570646754,0.04772942513227463,1.7532256606500596e-05,-0.03134561702609062,-0.2747637927532196,0.6557544469833374,0.6374533772468567,-0.29689085483551025,0.06020154803991318,0.5933516025543213,1.9509679079055786,0.058558493852615356,0.0220327265560627,0.2615526616573334,0.9631592035293579,1186,1,,2.0703258514404297,0.27279581549533005,0.0,0.007474745623767376,0.5337268128161888,12,release,0.04221630096435547,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e007,0,True,-0.07491207122802734,0.44736671447753906,-0.008605210189614697,0.008615621039504116,-9.31438734348177,pcr_96_blue,0.5073986053466797,0.06928730010986328,-91.82278213780425,0.242885779680157,1276.2940711366452,rect,-0.5670036210377201,0.27244407847205476,2.6112321593175243,10650.371838744191,5229.292782785412,sphere,-0.6337135217851435,1.5393330429475698,1.6065101928044345,5380.388277259667,3276.999021438609,0.04692915827035904,0.0005697573069483042,-0.027340542525053024,-0.2890556752681732,0.6444841623306274,0.6503036618232727,-0.2796285152435303,0.027449186891317368,0.5843407511711121,1.9452497959136963,0.059618908911943436,0.020344076678156853,0.27151134610176086,0.9603714346885681,1234,1,,2.0999157428741455,0.2963448333684625,0.0,0.006875771097838879,0.5170178282009724,12,release,0.042150259017944336,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e008,1,True,-0.041319847106933594,0.4500007629394531,0.002915717422101559,-0.007712237539808745,1.9301411654619756,plate_96_white,0.46108436584472656,0.05295372009277344,-89.22600429314458,0.24621652473522804,1276.2940711366452,rect,0.8121219613711129,0.4254210479656807,2.9482619426945895,6816.062439922414,6950.767387104859,sphere,-0.606463768752828,0.39505804456499627,1.8278257568087553,8627.453621135888,3818.560828034334,0.048825398087501526,0.001298057148233056,-0.029038092121481895,-0.27550995349884033,0.6537429094314575,0.6390756368637085,-0.29714781045913696,0.06020154803991318,0.5933516025543213,1.9509679079055786,0.058558493852615356,0.0220327265560627,0.2615526616573334,0.9631592035293579,1265,1,,2.0894362926483154,0.25769696271736986,0.0,0.00725639658048749,0.5541501976284585,12,release,0.04260826110839844,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e009,3,True,0.03416156768798828,0.45000171661376953,0.012690910620709107,0.0037327708447309586,3.5587830472074415,reservoir_12ch,0.47048377990722656,0.05947589874267578,-91.34558428571121,0.264203373184841,1479.715887103038,rect,0.2580988222614323,-0.19531691441667287,3.051768883996037,11617.301011938123,7192.572819656916,disk,-0.24239093961826996,0.9730836720233931,1.9477122248340877,8869.324724357655,6751.799304395989,0.04968627542257309,0.0014647955540567636,-0.033360786736011505,-0.2820122241973877,0.6516320705413818,0.645989716053009,-0.2802535593509674,0.07018949836492538,0.5963824391365051,1.9676952362060547,0.020301848649978638,0.00039045215817168355,0.2840040624141693,0.9586080312728882,1212,1,,2.093580722808838,0.28469463595015454,0.0,0.007422247435897589,0.5321782178217822,12,release,0.042188048362731934,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e010,2,True,-0.05961322784423828,0.4499988555908203,0.013333433930311847,-0.00566360500844292,-7.527497184232402,plate_24_clear,0.5043811798095703,0.1029367446899414,-92.67006629959731,0.27082446593718346,1479.715887103038,rect,0.7791149858693575,0.1848710893282529,2.838181585357317,10694.353791711055,6799.95548987672,disk,-0.3440606011196079,0.8584886058839423,2.272703875539362,9332.78427397096,6004.671518565663,0.046125348657369614,-0.0017838141648098826,-0.029996531084179878,-0.28786706924438477,0.6444701552391052,0.6530880331993103,-0.2743479311466217,0.04768693819642067,0.5670608282089233,1.9684035778045654,0.0266533475369215,0.006988747511059046,0.26533520221710205,0.9637624025344849,1273,1,,2.107126474380493,0.28659516032943216,0.0,0.007289673201739788,0.5035349567949725,12,release,0.04235732555389404,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e011,0,True,-0.08668899536132812,0.4486989974975586,0.0026395460362214447,0.000621455473589274,-9.291657739311376,pcr_96_blue,0.5073986053466797,0.06928730010986328,-91.82278213780425,0.28199888233810144,1479.715887103038,rect,0.08349073989743416,0.28238400085267756,2.8193412453552797,7816.936152399001,5092.998193816951,sphere,-0.5433814144743019,0.41049877576852567,2.4822627458746878,5095.610492586618,4588.472544847444,0.04997101426124573,-0.0017081907717511058,-0.02631489560008049,-0.2872869670391083,0.6463680267333984,0.6496464610099792,-0.2786288261413574,0.027449186891317368,0.5843407511711121,1.9452497959136963,0.059618908911943436,0.020344076678156853,0.27151134610176086,0.9603714346885681,1268,1,,2.026447057723999,0.29007243874008765,0.0,0.006861036643385887,0.5488958990536278,12,release,0.04254639148712158,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e012,1,True,0.10273265838623047,0.4463920593261719,-0.0116214038655918,-0.010362585517791022,3.4622434259437966,pcr_384_red,0.46108436584472656,0.05295372009277344,-89.22600429314458,0.16568401705665997,1479.715887103038,rect,0.8204963480947253,-0.10353977225015026,2.950588049365347,4989.447234535344,5505.544096841381,sphere,-1.0834808856399476,-0.5352039112151203,2.0941265427418063,5579.493801579838,5869.118865182684,0.04787620157003403,0.0011186484480276704,-0.030049998313188553,-0.27407678961753845,0.6549898386001587,0.6380037069320679,-0.2980293035507202,0.06020154803991318,0.5933516025543213,1.9509679079055786,0.058558493852615356,0.0220327265560627,0.2615526616573334,0.9631592035293579,1264,1,,2.1151697635650635,0.27576991801157363,0.0,0.00679535698145628,0.5079113924050633,12,release,0.042157530784606934,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e013,3,True,0.0563812255859375,0.4464759826660156,0.013352708495725658,-0.008041137738816496,-0.37895484124956624,plate_48_clear,0.47048377990722656,0.05947589874267578,-91.34558428571121,0.29835658091974604,1479.715887103038,rect,0.8218241465617228,0.5626009269428278,3.080815917816594,9606.37769565629,5019.87532323068,disk,0.8256050558342434,1.420457442956632,2.4592994128722285,2807.2135689557945,6773.877494253358,0.05182797461748123,0.003170565003529191,-0.032162297517061234,-0.2772406041622162,0.6480051875114441,0.6500422358512878,-0.2840282917022705,0.07018949836492538,0.5963824391365051,1.9676952362060547,0.020301848649978638,0.00039045215817168355,0.2840040624141693,0.9586080312728882,1174,1,,2.0978119373321533,0.3101930892603819,0.0,0.007290010340511799,0.5400340715502555,12,release,0.04214072227478027,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e014,2,True,0.0751962661743164,0.4500007629394531,0.007451085981668098,-0.0030240309182163107,-8.65210748337995,plate_1536_black,0.5043811798095703,0.1029367446899414,-92.67006629959731,0.22686051537613533,566.623954553904,rect,0.5981466178572613,-0.07312009662819358,2.6550647369514797,10251.31919685574,6953.469296889072,disk,-0.6999257161560013,1.1349535519630904,2.1369766931009044,4187.227093460781,6096.4692529726535,0.04690415784716606,-0.0008978188852779567,-0.030109478160738945,-0.28322479128837585,0.6472650170326233,0.6511002779006958,-0.27730870246887207,0.04768693819642067,0.5670608282089233,1.9684035778045654,0.0266533475369215,0.006988747511059046,0.26533520221710205,0.9637624025344849,1251,1,,2.0896666049957275,0.2626479581487882,0.0,0.007344732526689768,0.5139888089528377,12,release,0.042297959327697754,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e015,0,True,0.010994911193847656,0.44745349884033203,-0.005747478522405078,-0.005277764321373709,-0.0013910227598898928,plate_96_black,0.5073986053466797,0.06928730010986328,-91.82278213780425,0.2491975799183133,566.623954553904,rect,0.8036617157846905,0.31535863209865145,2.6509481202913463,15972.02965812777,4842.7563277361205,sphere,-0.7945654814739017,0.8759561716446973,2.7180859497096375,3098.8717649745995,4060.6080812284195,0.04729616269469261,0.00110189791303128,-0.029368076473474503,-0.28329429030418396,0.6410018801689148,0.6544924378395081,-0.28372621536254883,0.027449186891317368,0.5843407511711121,1.9452497959136963,0.059618908911943436,0.020344076678156853,0.27151134610176086,0.9603714346885681,1283,1,,2.0833752155303955,0.29605417068879475,0.0,0.007290861569344997,0.49415432579890883,12,release,0.04223060607910156,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e016,1,True,0.09298896789550781,0.4500007629394531,0.004262951449567452,-0.0003067045385123673,-6.437397890728761,plate_96_white,0.46108436584472656,0.05295372009277344,-89.22600429314458,0.21084452446138982,566.623954553904,rect,0.011638165219638341,-0.2854807834127004,3.0795878886587302,10566.21318847832,6851.981536353935,sphere,-0.8715140749991575,0.1491070706334201,2.451264126289352,1738.8147827402404,2960.8570506566593,0.04920949041843414,0.0035231653600931168,-0.028713587671518326,-0.27916252613067627,0.653732180595398,0.6380885243415833,-0.2958809733390808,0.06020154803991318,0.5933516025543213,1.9509679079055786,0.058558493852615356,0.0220327265560627,0.2615526616573334,0.9631592035293579,1231,1,,2.0242693424224854,0.267161469138781,0.0,0.0073051778599619865,0.5255889520714866,12,release,0.0425572395324707,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e017,3,True,-0.039775848388671875,0.4495706558227539,-2.3960038055969164e-05,-0.010344758904512863,-7.156446154795731,plate_384_white,0.47048377990722656,0.05947589874267578,-91.34558428571121,0.29629322996067686,566.623954553904,rect,-0.24424850130036346,0.3323391590628464,3.034244626543879,7620.240801814436,6785.605233090603,disk,1.0851594613433355,-0.2286537533654308,2.1411031549325097,6579.07035604541,7107.761565627157,0.05182575061917305,0.0032090586610138416,-0.0318143293261528,-0.28716543316841125,0.6477366089820862,0.6469096541404724,-0.28192415833473206,0.07018949836492538,0.5963824391365051,1.9676952362060547,0.020301848649978638,0.00039045215817168355,0.2840040624141693,0.9586080312728882,1317,1,,2.116896152496338,0.2673608836198574,0.0,0.007427333854138851,0.5299924069855733,12,release,0.04232895374298096,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e018,2,True,0.026946067810058594,0.4499950408935547,-0.0072755055999729765,0.00011094265623477993,-5.838699011210167,plate_1536_black,0.5043811798095703,0.1029367446899414,-92.67006629959731,0.28996320416141164,566.623954553904,rect,-0.2365571643979546,0.04638629863447641,2.6437572164920726,10580.533916648135,7139.442953314949,disk,-0.4387585461058987,1.2361746903736222,2.0802987243491518,2923.791666227249,4753.263731888516,0.049639638513326645,-0.0037628007121384144,-0.029237234964966774,-0.28249889612197876,0.6469661593437195,0.6530832052230835,-0.27406468987464905,0.04768693819642067,0.5670608282089233,1.9684035778045654,0.0266533475369215,0.006988747511059046,0.26533520221710205,0.9637624025344849,1230,1,,2.0902445316314697,0.25836688714840905,0.0,0.007377647794783115,0.5284552845528455,12,release,0.04297685623168945,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e019,0,True,0.006255149841308594,0.44738006591796875,0.01019733711044252,-0.0007799465286714362,10.42826759003185,plate_6_clear,0.5073986053466797,0.06928730010986328,-91.82278213780425,0.27606336557651734,1158.2272567442342,rect,0.1469071572402113,-0.39127202087745183,3.0379691625481864,9154.20462364953,6702.101772199214,sphere,-1.4030857143820288,1.3596035491778096,2.3582607614126037,7521.748996254356,4124.5399725167135,0.048087868839502335,-0.001825642422772944,-0.025929855182766914,-0.2881184220314026,0.6428166627883911,0.6514731645584106,-0.2817041575908661,0.027449186891317368,0.5843407511711121,1.9452497959136963,0.059618908911943436,0.020344076678156853,0.27151134610176086,0.9603714346885681,1226,1,,2.099527359008789,0.2774829466733854,0.0,0.007341520860791206,0.5212071778140294,12,release,0.04269719123840332,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e020,1,True,-0.11229133605957031,0.45000267028808594,-0.014624589927100615,-0.00015788651632184103,-3.111378467598513,deep_well_96_1ml,0.46108436584472656,0.05295372009277344,-89.22600429314458,0.2831952633593305,1158.2272567442342,rect,0.3558476845098817,-0.4249025561153189,3.009047077807463,6381.431556922362,5675.461419256553,sphere,0.16695171739537384,-1.1351494675087288,1.6551173227478495,7605.054037687152,6815.7495795889145,0.050083331763744354,0.0017852451419457793,-0.02900106832385063,-0.2758297026157379,0.6562183499336243,0.6378980278968811,-0.29390737414360046,0.06020154803991318,0.5933516025543213,1.9509679079055786,0.058558493852615356,0.0220327265560627,0.2615526616573334,0.9631592035293579,1236,1,,2.0626354217529297,0.2756496038027711,0.0,0.0074706291779875755,0.5105177993527508,12,release,0.04240894317626953,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e021,2,True,-0.05755615234375,0.4464893341064453,-0.008602844402886603,0.008961270117173724,3.7974413970164846,plate_1536_black,0.5043811798095703,0.1029367446899414,-92.67006629959731,0.2072621430383989,1158.2272567442342,rect,-0.002155383007113265,-0.30469552118529,2.7791184081566573,13193.502770413184,3935.720949624219,disk,0.4715599265378363,0.039026767572960974,1.884284952123294,5608.323300234906,7109.635100400863,0.05055169016122818,-0.0019822167232632637,-0.029671553522348404,-0.28583040833473206,0.6462159156799316,0.6507196426391602,-0.2779747545719147,0.04768693819642067,0.5670608282089233,1.9684035778045654,0.0266533475369215,0.006988747511059046,0.26533520221710205,0.9637624025344849,1235,1,,2.1026716232299805,0.2712016546583147,0.0,0.007343044504523277,0.5165991902834008,12,release,0.0421164333820343,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e022,3,True,0.008401870727539062,0.4499979019165039,0.01127921696915227,0.008561942012207164,-7.299582742063222,reservoir_12ch,0.47048377990722656,0.05947589874267578,-91.34558428571121,0.25147472155970413,1158.2272567442342,rect,0.3744511112273389,-0.21506424348970293,2.6459909867639957,6295.168394147232,4313.304206379583,disk,-1.132656605678795,-0.2252918730027459,2.2433614934208324,3313.2863039923786,7145.679543684653,0.05115561559796333,0.003406604053452611,-0.034399162977933884,-0.28542640805244446,0.6450710892677307,0.6523520946502686,-0.27722156047821045,0.07018949836492538,0.5963824391365051,1.9676952362060547,0.020301848649978638,0.00039045215817168355,0.2840040624141693,0.9586080312728882,1249,1,,2.040156841278076,0.32566530598719623,0.0,0.007395921275019646,0.5636509207365893,12,release,0.042203426361083984,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e023,0,True,0.11467170715332031,0.4499979019165039,-0.0028123332907490687,0.006042504796018194,0.5438715904388403,pcr_96_blue,0.5073986053466797,0.06928730010986328,-91.82278213780425,0.2501391787371674,1179.0509463057651,rect,-0.4407399134560633,0.4875319680233554,3.063390102132477,15697.484169566076,6906.084458299745,sphere,1.7873066406544709,1.4461061758124443,1.9856931623601184,3113.6837876976324,4328.187027834299,0.047059182077646255,0.0010357850696891546,-0.026139572262763977,-0.2817545235157013,0.6439052224159241,0.6518995761871338,-0.2846531569957733,0.027449186891317368,0.5843407511711121,1.9452497959136963,0.059618908911943436,0.020344076678156853,0.27151134610176086,0.9603714346885681,1266,1,,2.0992684364318848,0.2967000489970345,0.0,0.006840581074357033,0.5102685624012638,12,release,0.04214543104171753,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e024,2,True,0.025727272033691406,0.4500007629394531,-0.011812625628818572,-0.007420442899014156,-4.457954665506804,plate_24_clear,0.5043811798095703,0.1029367446899414,-92.67006629959731,0.2895761492120609,1179.0509463057651,rect,0.6685016285454738,0.07471577369116844,2.7263207915881216,14078.875287801284,5189.465894644962,disk,1.544010708233718,0.18930961110829747,2.7773729585028892,4701.239720539109,6174.0854997417055,0.047252099961042404,-0.0016390768578276038,-0.030451424419879913,-0.2831263542175293,0.6461185216903687,0.6529703736305237,-0.2756810188293457,0.04768693819642067,0.5670608282089233,1.9684035778045654,0.0266533475369215,0.006988747511059046,0.26533520221710205,0.9637624025344849,1211,1,,2.1060543060302734,0.25754991540518435,0.0,0.0072889626026153564,0.5375722543352601,12,release,0.04225534200668335,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e025,1,True,-0.07711315155029297,0.4473400115966797,0.001508156942893879,-0.006530732523552108,-6.0838800121628935,deep_well_96_1ml,0.46108436584472656,0.05295372009277344,-89.22600429314458,0.17937655972080382,1179.0509463057651,rect,-0.584216687368027,0.3140593623874206,2.7880951389728588,6058.3733032648215,6058.06768616708,sphere,1.0539220902807922,-0.8139646017289067,2.6458601505974086,9359.808977705638,3842.4776879714054,0.049376849085092545,0.0008523586438968778,-0.026830023154616356,-0.27049845457077026,0.6572900414466858,0.6378450989723206,-0.29657045006752014,0.06020154803991318,0.5933516025543213,1.9509679079055786,0.058558493852615356,0.0220327265560627,0.2615526616573334,0.9631592035293579,1224,1,,2.0041933059692383,0.3139376616381163,0.0,0.0074286023154854774,0.5220588235294118,12,release,0.04223012924194336,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c6_p001_e026,3,True,0.07453536987304688,0.4499959945678711,0.0069970900993408195,-0.003440894269342009,9.243016468988202,reservoir_12ch,0.47048377990722656,0.05947589874267578,-91.34558428571121,0.24996011368523036,1179.0509463057651,rect,-0.3203561790561885,0.5900333024799722,2.833457365741756,8393.366046985633,5979.113755126149,disk,1.5546729131803052,0.7903353601176835,2.40389048541716,8160.414883619382,2995.759569331215,0.05129551142454147,0.0009638054762035608,-0.03446197882294655,-0.2836576998233795,0.6487503051757812,0.6467946171760559,-0.2834043800830841,0.07018949836492538,0.5963824391365051,1.9676952362060547,0.020301848649978638,0.00039045215817168355,0.2840040624141693,0.9586080312728882,1258,1,,2.1231184005737305,0.25853546200236327,0.0,0.007455312646925449,0.5079491255961844,12,release,0.04207015037536621,"Pre-grasping the small plate, moving the arm toward it; the ",v1